diff --git a/CHANGELOG.rst b/CHANGELOG.rst
deleted file mode 100644
index 1b11398cc6a88217e235b31fb46d4b26d56f312d..0000000000000000000000000000000000000000
--- a/CHANGELOG.rst
+++ /dev/null
@@ -1,97 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package talos-data
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-0.0.13 (2016-11-15)
--------------------
-
-0.0.12 (2016-11-15)
--------------------
-* Cleaninng and renaming v2 to default
-* Update hip z link meshes
-* Contributors: Luca
-
-0.0.11 (2016-11-12)
--------------------
-* Fix imu tf and frame
-* Contributors: Luca
-
-0.0.10 (2016-11-12 12:48)
--------------------------
-* Update changelog
-* Contributors: Victor Lopez
-
-0.0.9 (2016-11-12 11:14)
-------------------------
-* Add changelog
-* Contributors: Luca
-
-0.0.8 (2016-11-11)
-------------------
-* Add changelog
-* Removed xacro if
-* Added motions, and ft sensor signs fixed
-* Contributors: Luca
-
-0.0.7 (2016-11-10 18:45)
-------------------------
-* Updated changelog
-* Contributors: Hilario Tome
-
-0.0.6 (2016-11-10 18:16)
-------------------------
-* Updated changelog
-* Contributors: Hilario Tome
-
-0.0.5 (2016-11-10 12:06)
-------------------------
-* Updated changelog
-* Fix frame for wrist ft sensors
-* Contributors: Hilario Tome, Luca
-
-0.0.4 (2016-11-09)
-------------------
-* Updated changelog
-* Merge branch 'dubnium-devel' of gitlab:robots/talos_robot into dubnium-devel
-* Head talos finally working hardware, added wrists ft to pal hardware
-* MoveIt and play_motion config files
-* Fixed head differential
-* Changed gazebo feedback to base_link
-* Fix right wrist and gripper rotations
-* Invert torso joints order. Check base_link
-* Contributors: Hilario Tome, Luca
-
-0.0.3 (2016-10-31)
-------------------
-* Updated changelog
-* Added default 0 noise to simulated imu
-* Temporaly fixed arm dynamics
-* Changed head differential, default controllers stopped
-* Succesfull walking in talos, added talos teleop
-* Contributors: Hilario Tome
-
-0.0.2 (2016-10-13)
-------------------
-* Updated changelog
-* Added sub models to debug gazebo and added implicit tag simulation to 1.0
-* Contributors: Hilario Tome
-
-0.0.1 (2016-10-12)
-------------------
-* Created intial changelog
-* Clean up
-* Added missing foot mesh and changed default topic for state estimator
-* Removing joint state publication of virtual joints
-* Fix gripper movement in simulation.
- Add colors to model
-* Change gripper motor joint to just side_gripper_joint
-* Fix gripper controller and add controller launchers for follow joint trajectory controllers
-* Fix warning of inconsistent namespace redefinitions for xmlns:xacro:
-* Updating to new gripper
-* Using new gripper
-* Add new gripper model
-* Finished renaming
-* Finished renaming
-* Fixing
-* Renamed tor to talos
-* Contributors: Hilario Tome, Sam Pfeiffer
diff --git a/launch/talos_joint_command_rviz.launch b/launch/talos_joint_command_rviz.launch
deleted file mode 100644
index 7d93e0f6fff4432fa78fd7688f5caaf1926ea300..0000000000000000000000000000000000000000
--- a/launch/talos_joint_command_rviz.launch
+++ /dev/null
@@ -1,9 +0,0 @@
-
-roslaunch talos_data upload_legs.launch
-
-rosrun joint_state_publisher joint_state_publisher _use_gui:=True
-
-rosrun robot_state_publisher robot_state_publisher
-
-rosrun rviz rviz
-
diff --git a/meshes/gripper/gripper_motor_double_collision.STL b/meshes/gripper/gripper_motor_double_collision.STL
index ae635b1a3554354124d71edc852c4dac21519304..e9454c0afb5ea700697b4655fcecf815885fc7f5 100644
Binary files a/meshes/gripper/gripper_motor_double_collision.STL and b/meshes/gripper/gripper_motor_double_collision.STL differ
diff --git a/meshes/gripper/gripper_motor_single_collision.STL b/meshes/gripper/gripper_motor_single_collision.STL
index c8bac51be45b381929d45fb583a207e69783acac..680023b36bd54f61a56eb767a80ad0f7998ac91f 100644
Binary files a/meshes/gripper/gripper_motor_single_collision.STL and b/meshes/gripper/gripper_motor_single_collision.STL differ
diff --git a/meshes/gripper/inner_double_collision.STL b/meshes/gripper/inner_double_collision.STL
index dd8635848a7f058c92271cc7828af27aef680e78..99f78f31205cf7ddb79ceb0ab7ca1c23970623ae 100644
Binary files a/meshes/gripper/inner_double_collision.STL and b/meshes/gripper/inner_double_collision.STL differ
diff --git a/meshes/gripper/inner_single_collision.STL b/meshes/gripper/inner_single_collision.STL
index 56a62d4857518ed639770154f7c0983087344860..e356477b893530f1a0c3261255a8dad853677564 100644
Binary files a/meshes/gripper/inner_single_collision.STL and b/meshes/gripper/inner_single_collision.STL differ
diff --git a/meshes/sensors/xtion_pro_live/xtion_pro_live.dae b/meshes/sensors/xtion_pro_live/xtion_pro_live.dae
index 31ddc4653771dc63dc4984efb822cdb508ecd30f..506f3cd28767a88aab9361334cb9fad40cffa884 100644
--- a/meshes/sensors/xtion_pro_live/xtion_pro_live.dae
+++ b/meshes/sensors/xtion_pro_live/xtion_pro_live.dae
@@ -1,10 +1,10 @@
<?xml version="1.0" encoding="UTF-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
<asset>
- <contributalos>
+ <contributor>
<author>VCGLab</author>
<authoring_tool>VCGLib | MeshLab</authoring_tool>
- </contributalos>
+ </contributor>
<up_axis>Y_UP</up_axis>
<created>Wed Jan 16 14:35:13 2013</created>
<modified>Wed Jan 16 14:35:13 2013</modified>
diff --git a/meshes/sensors/xtion_pro_live/xtion_pro_live.png b/meshes/sensors/xtion_pro_live/xtion_pro_live.png
index b51bb875aa5033c1836c972463ec9379237debe8..94395f8771bf1843eca6397567780185850d29c4 100644
Binary files a/meshes/sensors/xtion_pro_live/xtion_pro_live.png and b/meshes/sensors/xtion_pro_live/xtion_pro_live.png differ
diff --git a/meshes/v2/hip_x_collision.stl b/meshes/v2/hip_x_collision.stl
index bad9cc0b1636bd61c55edf0b7ad6977a80dfba36..abfe7927fd9e48ab63f1cb2de5c328ee5e555689 100644
Binary files a/meshes/v2/hip_x_collision.stl and b/meshes/v2/hip_x_collision.stl differ
diff --git a/meshes/v2/hip_x_lo_res.stl b/meshes/v2/hip_x_lo_res.stl
index 09d2c75ade92ccf468ce525e2c9d1b14094cd0e0..24bc6e5fb388a908d4b67f827e406c845e8f8e3b 100644
Binary files a/meshes/v2/hip_x_lo_res.stl and b/meshes/v2/hip_x_lo_res.stl differ
diff --git a/package.xml b/package.xml
index 26211a3b934ba6e3d2d6ebe0af7f460450dc2d77..036c7a99adfc1bfee44305ca22566774e7b906d2 100644
--- a/package.xml
+++ b/package.xml
@@ -1,16 +1,22 @@
<?xml version="1.0"?>
-<package>
- <name>talos_data</name>
- <version>0.0.15</version>
- <description>The talos_data package</description>
+<package format="2">
+ <name>talos_description</name>
+ <version>1.0.4</version>
+ <description>The talos_description package</description>
- <maintainer email="ostasse@laas.fr">Olivier Stasse</maintainer>
+ <maintainer email="hilario.tome@pal-robotics.com">Hilario Tomé</maintainer>
<license>Proprietary</license>
<buildtool_depend>catkin</buildtool_depend>
+ <exec_depend>talos_description_calibration</exec_depend>
+ <exec_depend>talos_description_inertial</exec_depend>
+
+ <test_depend>rostest</test_depend>
+ <test_depend>urdf_test</test_depend>
+
<export>
</export>
-
+
</package>
diff --git a/robots/talos_arm.urdf.xacro b/robots/talos_arm.urdf.xacro
deleted file mode 100644
index 07f5a12aa34b4bfc4eded690ae8e5f52be917adb..0000000000000000000000000000000000000000
--- a/robots/talos_arm.urdf.xacro
+++ /dev/null
@@ -1,55 +0,0 @@
-<?xml version="1.0"?>
-<!--
-
- Copyright (c) 2016, PAL Robotics, S.L.
- All rights reserved.
-
- This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
- To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
- Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
--->
-<robot name="talos" xmlns:xacro="http://ros.org/wiki/xacro"
- xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
- xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
- xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
-
- <xacro:include filename="$(find talos_data)/urdf/arm/arm.urdf.xacro" />
- <xacro:include filename="$(find talos_data)/urdf/gripper/gripper.urdf.xacro" />
-
- <link name="talos_2_link">
- <inertial>
- <origin xyz="-0.04551 -0.00053 0.16386" rpy="0.00000 0.00000 0.00000"/>
- <mass value="17.55011"/>
- <inertia ixx="0.37376900000" ixy="0.00063900000" ixz="0.01219600000"
- iyy="0.24790200000" iyz="0.00000700000"
- izz="0.28140400000"/>
- </inertial>
-
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://talos_data/meshes/talos/talos_2.STL" scale="1 1 1"/>
- </geometry>
- <material name="LightGrey" />
- </visual>
-
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://talos_data/meshes/talos/talos_2_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
-
- <xacro:talos_arm name="arm" parent="talos_2_link" side="left" reflect="1"/>
- <xacro:talos_arm name="arm" parent="talos_2_link" side="right" reflect="-1"/>
-
- <xacro:talos_gripper name="left_gripper" parent="arm_left_7_link"/>
- <xacro:talos_gripper name="right_gripper" parent="arm_right_7_link"/>
-
- <!-- Generic simulatalos_gazebo plugins -->
- <xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
- <!-- Materials for visualization -->
- <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />
-
-</robot>
diff --git a/robots/talos_full_collision.urdf b/robots/talos_full_collision.urdf
deleted file mode 100644
index 100c7a1280093b2d63e98c4575ec56d69cfa1956..0000000000000000000000000000000000000000
--- a/robots/talos_full_collision.urdf
+++ /dev/null
@@ -1,2786 +0,0 @@
-<?xml version="1.0" ?>
-<!-- =================================================================================== -->
-<!-- | This document was autogenerated by xacro from talos_full.urdf.xacro | -->
-<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
-<!-- =================================================================================== -->
-<!--
-
- Copyright (c) 2016, PAL Robotics, S.L.
- All rights reserved.
-
- This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
- To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
- Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
--->
-<robot name="talos" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://ros.org/wiki/xacro">
- <!--File includes-->
- <!--Constant parameters-->
- <!--File includes-->
- <!-- Macro -->
- <!--Constant parameters-->
- <!--************************-->
- <!-- HEAD_1 (TILT) -->
- <!--************************-->
- <!--************************-->
- <!-- HEAD_2 (PAN) -->
- <!--************************-->
- <!--File includes-->
- <!--File includes-->
- <!--Constant parameters-->
- <!--Constant parameters-->
- <!--File includes-->
- <!-- VIRTUAL (mimic) JOINTS -->
- <!-- 0.45deg -->
- <!--************************-->
- <!-- TORSO_2 (TILT) -->
- <!--************************-->
- <link name="torso_2_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.04551 -0.00053 0.16386"/>
- <mass value="17.55011"/>
- <inertia ixx="0.37376900000" ixy="0.00063900000" ixz="0.01219600000" iyy="0.24790200000" iyz="0.00000700000" izz="0.28140400000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/torso/torso_2.STL" scale="1 1 1"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/torso/torso_2_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <!--************************-->
- <!-- TORSO_1 (PAN) -->
- <!--************************-->
- <link name="torso_1_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00013 -0.00001 -0.01306"/>
- <mass value="3.02433"/>
- <inertia ixx="0.00759400000" ixy="0.00000100000" ixz="-0.00004800000" iyy="0.00429200000" iyz="-0.00000100000" izz="0.00749700000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/torso/torso_1.STL" scale="1 1 1"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/torso/torso_1.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="torso_1_joint" type="revolute">
- <parent link="base_link"/>
- <child link="torso_1_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0722"/>
- <axis xyz="0 0 1"/>
- <limit effort="78.0" lower="-1.308996939" upper="1.308996939" velocity="5.4"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-15.0 * deg_to_rad + torso_eps}"
- soft_upper_limit="${ 45.0 * deg_to_rad - torso_eps}" /> -->
- </joint>
- <!--************************-->
- <!-- BASE_LINK -->
- <!--************************-->
- <link name="base_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.08222 0.00838 -0.07261"/>
- <mass value="13.53810"/>
- <inertia ixx="0.06989000000" ixy="-0.00011700000" ixz="0.00023000000" iyy="0.03998200000" iyz="-0.00132500000" izz="0.08234500000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/torso/base_link.STL" scale="1 1 1"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="torso_2_joint" type="revolute">
- <parent link="torso_1_link"/>
- <child link="torso_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
- <axis xyz="0 1 0"/>
- <limit effort="78.0" lower="-0.261799387799" upper="0.785398163397" velocity="5.4"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-75.00000 * deg_to_rad + eps_radians}"
- soft_upper_limit="${75.00000 * deg_to_rad - eps_radians}" /> -->
- </joint>
- <link name="imu_link">
- <inertial>
- <mass value="0.01"/>
- <origin xyz="0 0 0"/>
- <inertia ixx="0.000001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.000001"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <box size="0.01 0.01 0.01"/>
- </geometry>
- </visual>
- </link>
- <joint name="imu_joint" type="fixed">
- <origin rpy="3.14159265359 0 1.57079632679" xyz="0.04925 0 0.078"/>
- <parent link="torso_2_link"/>
- <child link="imu_link"/>
- </joint>
- <gazebo reference="torso_1_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="torso_2_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="base_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="torso_1_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="torso_2_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <!-- extensions -->
- <transmission name="talos_torso_trans">
- <type>transmission_interface/DifferentialTransmission</type>
- <actuator name="torso_1_motor">
- <role>actuator1</role>
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <actuator name="torso_2_motor">
- <role>actuator2</role>
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="torso_1_joint">
- <role>joint1</role>
- <offset>0.0</offset>
- <mechanicalReduction>1.0</mechanicalReduction>
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- <joint name="torso_2_joint">
- <role>joint2</role>
- <offset>0.0</offset>
- <mechanicalReduction>1.0</mechanicalReduction>
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <link name="head_1_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00120 0.00145 0.02165"/>
- <mass value="0.65988"/>
- <inertia ixx="0.00122100000" ixy="-0.00000400000" ixz="0.00007000000" iyy="0.00092400000" iyz="-0.00004100000" izz="0.00103300000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/head/head_1.stl" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/head/head_1_collision.stl" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="head_1_joint" type="revolute">
- <parent link="torso_2_link"/>
- <child link="head_1_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.31600"/>
- <axis xyz="0 1 0"/>
- <limit effort="8.0" lower="-0.261799387799" upper="0.785398163397" velocity="1.0"/>
- <dynamics damping="0.5" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-15.00000 * deg_to_rad + eps_radians}"
- soft_upper_limit="${45.00000 * deg_to_rad - eps_radians}" /> -->
- </joint>
- <gazebo reference="head_1_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="head_1_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="head_1_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <link name="head_2_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01036 -0.00037 0.13778"/>
- <mass value="1.40353"/>
- <inertia ixx="0.00722500000" ixy="-0.00002500000" ixz="0.00032900000" iyy="0.00687300000" iyz="0.00004400000" izz="0.00437300000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/head/head_2.stl" scale="1 1 1"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/head/head_2_collision.stl" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="head_2_joint" type="revolute">
- <parent link="head_1_link"/>
- <child link="head_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="0 0 1"/>
- <limit effort="4.0" lower="-1.308996939" upper="1.308996939" velocity="1.0"/>
- <dynamics damping="0.5" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-75.00000 * deg_to_rad + eps_radians}"
- soft_upper_limit="${75.00000 * deg_to_rad - eps_radians}" /> -->
- </joint>
- <gazebo reference="head_2_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="head_2_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="head_2_link">
- <material>Gazebo/White</material>
- </gazebo>
- <!-- frames in the center of the camera -->
- <joint name="rgbd_joint" type="fixed">
- <origin rpy="0 0 0" xyz="0.066 0.0 0.1982"/>
- <axis xyz="0 0 1"/>
- <!-- <limit lower="0" upper="0.001" effort="100" velocity="0.01"/> -->
- <parent link="head_2_link"/>
- <child link="rgbd_link"/>
- </joint>
- <link name="rgbd_link">
- <inertial>
- <mass value="0.01"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <!-- inertia tensor computed analytically for a solid cuboid -->
- <inertia ixx="0.000030" ixy="0.0" ixz="0.0" iyy="0.000030" iyz="0.0" izz="0.000002"/>
- </inertial>
- <!--
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/sensors/orbbec/orbbec.STL"/>
- </geometry>
- <material name="DarkGrey">
- <color rgba="0.5 0.5 0.5 1"/>
- </material>
- </visual>
- -->
- <collision>
- <origin rpy="0 0 0" xyz="-0.01 0.0025 0"/>
- <geometry>
- <box size="0.04 0.185 0.03"/>
- </geometry>
- </collision>
- </link>
- <joint name="rgbd_optical_joint" type="fixed">
- <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
- <parent link="rgbd_link"/>
- <child link="rgbd_optical_frame"/>
- </joint>
- <link name="rgbd_optical_frame">
- <inertial>
- <mass value="0.01"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
- </link>
- <!-- frames of the depth sensor -->
- <joint name="rgbd_depth_joint" type="fixed">
- <origin rpy="0 0 0" xyz="0.0 0.03751 0.0"/>
- <parent link="rgbd_link"/>
- <child link="rgbd_depth_frame"/>
- </joint>
- <link name="rgbd_depth_frame"/>
- <joint name="rgbd_depth_optical_joint" type="fixed">
- <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
- <parent link="rgbd_depth_frame"/>
- <child link="rgbd_depth_optical_frame"/>
- </joint>
- <link name="rgbd_depth_optical_frame"/>
- <!-- frames of the rgb sensor -->
- <joint name="rgbd_rgb_joint" type="fixed">
- <origin rpy="0 0 0" xyz="0.0 0.01251 0.0"/>
- <parent link="rgbd_link"/>
- <child link="rgbd_rgb_frame"/>
- </joint>
- <link name="rgbd_rgb_frame"/>
- <joint name="rgbd_rgb_optical_joint" type="fixed">
- <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
- <parent link="rgbd_rgb_frame"/>
- <child link="rgbd_rgb_optical_frame"/>
- </joint>
- <link name="rgbd_rgb_optical_frame"/>
- <!-- extensions -->
- <gazebo reference="rgbd_link">
- <!-- IR + depth -->
- <sensor name="rgbd_frame_sensor" type="depth">
- <always_on>true</always_on>
- <update_rate>6.0</update_rate>
- <camera>
- <horizontal_fov>1.01229096616</horizontal_fov>
- <image>
- <format>R8G8B8</format>
- <width>320</width>
- <height>240</height>
- </image>
- <clip>
- <near>0.45</near>
- <far>10.0</far>
- </clip>
- </camera>
- <plugin filename="libgazebo_ros_openni_kinect.so" name="rgbd_frame_controller">
- <alwaysOn>true</alwaysOn>
- <updateRate>6.0</updateRate>
- <cameraName>rgbd</cameraName>
- <imageTopicName>ir/image_raw</imageTopicName>
- <cameraInfoTopicName>ir/camera_info</cameraInfoTopicName>
- <depthImageTopicName>depth/image_raw</depthImageTopicName>
- <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
- <pointCloudTopicName>depth/points</pointCloudTopicName>
- <frameName>rgbd_optical_frame</frameName>
- <pointCloudCutoff>0.45</pointCloudCutoff>
- <rangeMax>10.0</rangeMax>
- <distalostionK1>0.00000001</distalostionK1>
- <distalostionK2>0.00000001</distalostionK2>
- <distalostionK3>0.00000001</distalostionK3>
- <distalostionT1>0.00000001</distalostionT1>
- <distalostionT2>0.00000001</distalostionT2>
- </plugin>
- </sensor>
- <!-- RGB -->
- <sensor name="rgbd_frame_sensor" type="depth">
- <always_on>true</always_on>
- <update_rate>6.0</update_rate>
- <camera>
- <horizontal_fov>1.01229096616</horizontal_fov>
- <image>
- <format>R8G8B8</format>
- <width>320</width>
- <height>240</height>
- </image>
- <clip>
- <near>0.45</near>
- <far>10.0</far>
- </clip>
- </camera>
- <plugin filename="libgazebo_ros_openni_kinect.so" name="rgbd_frame_controller">
- <alwaysOn>true</alwaysOn>
- <updateRate>6.0</updateRate>
- <cameraName>rgbd</cameraName>
- <imageTopicName>rgb/image_raw</imageTopicName>
- <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
- <pointCloudTopicName>rgb/points</pointCloudTopicName>
- <frameName>rgbd_optical_frame</frameName>
- <pointCloudCutoff>0.45</pointCloudCutoff>
- <rangeMax>10.0</rangeMax>
- <distalostionK1>0.00000001</distalostionK1>
- <distalostionK2>0.00000001</distalostionK2>
- <distalostionK3>0.00000001</distalostionK3>
- <distalostionT1>0.00000001</distalostionT1>
- <distalostionT2>0.00000001</distalostionT2>
- </plugin>
- </sensor>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <transmission name="talos_trans">
- <type>transmission_interface/HalfDifferentialTransmission</type>
- <actuator name="head_1_motor">
- <role>actuator1</role>
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <actuator name="head_2_motor">
- <role>actuator2</role>
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="head_1_joint">
- <role>joint1</role>
- <offset>0.0</offset>
- <mechanicalReduction>1.0</mechanicalReduction>
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- <joint name="head_2_joint">
- <role>joint2</role>
- <offset>0.0</offset>
- <mechanicalReduction>2.0</mechanicalReduction>
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <!--************************-->
- <!-- SHOULDER -->
- <!--************************-->
- <link name="arm_left_1_link">
- <!-- TODO: Missing reflects of inertias -->
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01346 0.0913 0.04812"/>
- <!-- <mass value="1.52896"/> -->
- <mass value="1.42896"/>
- <inertia ixx="0.00555100000" ixy="-0.00073100000" ixz="0.00000800000" iyy="0.00167300000" iyz="-0.00006000000" izz="0.00582200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_left_1_joint" type="revolute">
- <parent link="torso_2_link"/>
- <child link="arm_left_1_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.1575 0.23200"/>
- <axis xyz="0 0 1"/>
- <limit effort="44.64" lower="-1.57079632679" upper="0.523598775598" velocity="2.7"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-90.00000 * deg_to_rad + arm_eps}"
- soft_upper_limit="${30.00000 * deg_to_rad - arm_eps}" /> -->
- </joint>
- <link name="arm_left_2_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02607 0.00049 -0.05209"/>
- <!-- <mass value="1.77729"/> -->
- <mass value="1.67729"/>
- <inertia ixx="0.00708700000" ixy="-0.00001400000" ixz="0.00214200000" iyy="0.00793600000" iyz="0.00003000000" izz="0.00378800000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_left_2_joint" type="revolute">
- <parent link="arm_left_1_link"/>
- <child link="arm_left_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00493 0.1365 0.04673"/>
- <axis xyz="1 0 0"/>
- <limit effort="22.32" lower="0.0" upper="2.87979326579" velocity="3.66"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${0.00000 * deg_to_rad + arm_eps}"
- soft_upper_limit="${165.00000 * deg_to_rad - arm_eps}" /> -->
- </joint>
- <link name="arm_left_3_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00841 0.01428 -0.22291"/>
- <!-- <mass value="1.57029"/> -->
- <mass value="1.47029"/>
- <inertia ixx="0.00433200000" ixy="0.00015300000" ixz="-0.00049600000" iyy="0.00434000000" iyz="-0.00060900000" izz="0.00254300000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_left_3_joint" type="revolute">
- <parent link="arm_left_2_link"/>
- <child link="arm_left_3_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="0 0 1"/>
- <limit effort="17.86" lower="-2.44346095279" upper="2.44346095279" velocity="4.58"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-140.0 * deg_to_rad + arm_eps}"
- soft_upper_limit="${140.0 * deg_to_rad - arm_eps}" /> -->
- </joint>
- <!--************************-->
- <!-- ELBOW -->
- <!--************************-->
- <link name="arm_left_4_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00655 -0.02107 -0.02612"/>
- <!-- <mass value="1.20216"/> -->
- <mass value="1.10216"/>
- <inertia ixx="0.00221700000" ixy="-0.00010100000" ixz="0.00028800000" iyy="0.00241800000" iyz="-0.00039300000" izz="0.00111500000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_left_4_joint" type="revolute">
- <parent link="arm_left_3_link"/>
- <child link="arm_left_4_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.02000 0.00000 -0.27300"/>
- <axis xyz="0 1 0"/>
- <limit effort="17.86" lower="-2.35619449019" upper="0.0" velocity="4.58"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-135.0 * deg_to_rad + arm_eps}"
- soft_upper_limit="${0.0 * deg_to_rad - arm_eps}" /> -->
- </joint>
- <gazebo reference="arm_left_1_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_left_2_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_left_3_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_left_4_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_left_1_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_left_2_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_left_3_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_left_4_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <!--************************-->
- <!-- WRIST -->
- <!--************************-->
- <!--************************-->
- <!-- WRIST -->
- <!--************************-->
- <link name="arm_left_5_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00006 0.00326 0.07963"/>
- <!-- <mass value="1.87792"/> -->
- <mass value="1.77792"/>
- <inertia ixx="0.00349500000" ixy="-0.00001300000" ixz="-0.00001000000" iyy="0.00436800000" iyz="0.00009700000" izz="0.00228300000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_left_5_joint" type="revolute">
- <parent link="arm_left_4_link"/>
- <child link="arm_left_5_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="-0.02000 0.00000 -0.26430"/>
- <axis xyz="0 0 1"/>
- <limit effort="3" lower="-2.53072741539" upper="2.53072741539" velocity="1.95"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-145.00000 * deg_to_rad + wrist_eps}"
- soft_upper_limit="${145.00000 * deg_to_rad - wrist_eps}" /> -->
- </joint>
- <link name="arm_left_6_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00002 -0.00197 -0.00059"/>
- <!-- <mass value="0.40931"/> -->
- <mass value="0.30931"/>
- <inertia ixx="0.00010700000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00014100000" iyz="-0.00000000000" izz="0.00015400000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_left_6_joint" type="revolute">
- <parent link="arm_left_5_link"/>
- <child link="arm_left_6_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="1 0 0"/>
- <limit effort="6.6" lower="-1.3962634016" upper="1.3962634016" velocity="1.76"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-80.00000 * deg_to_rad + eps_radians}"
- soft_upper_limit="${80.00000 * deg_to_rad - eps_radians}" /> -->
- </joint>
- <link name="arm_left_7_link">
- <!-- WRONG VALUES
- <inertial>
- <origin xyz="-0.00089 0.00365 -0.07824" rpy="0.00000 0.00000 0.00000"/>
- <mass value="1.02604"/>
- <inertia ixx="0.00151400000" ixy="0.00000600000" ixz="0.00006600000"
- iyy="0.00146400000" iyz="0.00001200000"
- izz="0.00090300000"/>
- </inertial>
- -->
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.007525 0.001378 -0.024630"/>
- <mass value="0.308441"/>
- <inertia ixx="0.000309" ixy="0.000002" ixz="-0.000002" iyy="0.000219" iyz="0.000012" izz="0.000176"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_7.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_7_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_left_7_joint" type="revolute">
- <parent link="arm_left_6_link"/>
- <child link="arm_left_7_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
- <axis xyz="0 1 0"/>
- <limit effort="6.6" lower="-0.698131700798" upper="0.698131700798" velocity="1.76"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-40.00000 * deg_to_rad + eps_radians}"
- soft_upper_limit="${40.00000 * deg_to_rad - eps_radians}" /> -->
- </joint>
- <gazebo reference="arm_left_5_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="arm_left_6_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="arm_left_7_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_left_5_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_left_6_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_left_7_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <!-- extensions -->
- <transmission name="arm_left_5_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_left_5_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_left_5_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="wrist_left_trans">
- <type>transmission_interface/DifferentialTransmission</type>
- <actuator name="arm_left_6_motor">
- <role>actuator1</role>
- <mechanicalReduction>-1.0</mechanicalReduction>
- </actuator>
- <actuator name="arm_left_7_motor">
- <role>actuator2</role>
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_left_6_joint">
- <role>joint1</role>
- <offset>0.0</offset>
- <mechanicalReduction>-1.0</mechanicalReduction>
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- <joint name="arm_left_7_joint">
- <role>joint2</role>
- <offset>0.0</offset>
- <mechanicalReduction>-1.0</mechanicalReduction>
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <!-- extensions -->
- <transmission name="arm_left_1_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_left_1_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_left_1_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="arm_left_2_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_left_2_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_left_2_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="arm_left_3_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_left_3_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_left_3_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="arm_left_4_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_left_4_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_left_4_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <!--************************-->
- <!-- SHOULDER -->
- <!--************************-->
- <link name="arm_right_1_link">
- <!-- TODO: Missing reflects of inertias -->
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01346 -0.0913 0.04812"/>
- <!-- <mass value="1.52896"/> -->
- <mass value="1.42896"/>
- <inertia ixx="0.00555100000" ixy="-0.00073100000" ixz="0.00000800000" iyy="0.00167300000" iyz="-0.00006000000" izz="0.00582200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 -1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 -1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_right_1_joint" type="revolute">
- <parent link="torso_2_link"/>
- <child link="arm_right_1_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.1575 0.23200"/>
- <axis xyz="0 0 1"/>
- <limit effort="44.64" lower="-0.523598775598" upper="1.57079632679" velocity="2.7"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-90.00000 * deg_to_rad + arm_eps}"
- soft_upper_limit="${30.00000 * deg_to_rad - arm_eps}" /> -->
- </joint>
- <link name="arm_right_2_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02607 0.00049 -0.05209"/>
- <!-- <mass value="1.77729"/> -->
- <mass value="1.67729"/>
- <inertia ixx="0.00708700000" ixy="-0.00001400000" ixz="0.00214200000" iyy="0.00793600000" iyz="0.00003000000" izz="0.00378800000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 -1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 -1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_right_2_joint" type="revolute">
- <parent link="arm_right_1_link"/>
- <child link="arm_right_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00493 -0.1365 0.04673"/>
- <axis xyz="1 0 0"/>
- <limit effort="22.32" lower="-2.87979326579" upper="0.0" velocity="3.66"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${0.00000 * deg_to_rad + arm_eps}"
- soft_upper_limit="${165.00000 * deg_to_rad - arm_eps}" /> -->
- </joint>
- <link name="arm_right_3_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00841 0.01428 -0.22291"/>
- <!-- <mass value="1.57029"/> -->
- <mass value="1.47029"/>
- <inertia ixx="0.00433200000" ixy="0.00015300000" ixz="-0.00049600000" iyy="0.00434000000" iyz="-0.00060900000" izz="0.00254300000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 -1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 -1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_right_3_joint" type="revolute">
- <parent link="arm_right_2_link"/>
- <child link="arm_right_3_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="0 0 1"/>
- <limit effort="17.86" lower="-2.44346095279" upper="2.44346095279" velocity="4.58"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-140.0 * deg_to_rad + arm_eps}"
- soft_upper_limit="${140.0 * deg_to_rad - arm_eps}" /> -->
- </joint>
- <!--************************-->
- <!-- ELBOW -->
- <!--************************-->
- <link name="arm_right_4_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00655 -0.02107 -0.02612"/>
- <!-- <mass value="1.20216"/> -->
- <mass value="1.10216"/>
- <inertia ixx="0.00221700000" ixy="-0.00010100000" ixz="0.00028800000" iyy="0.00241800000" iyz="-0.00039300000" izz="0.00111500000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 -1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 -1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_right_4_joint" type="revolute">
- <parent link="arm_right_3_link"/>
- <child link="arm_right_4_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.02000 0.00000 -0.27300"/>
- <axis xyz="0 1 0"/>
- <limit effort="17.86" lower="-2.35619449019" upper="0.0" velocity="4.58"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-135.0 * deg_to_rad + arm_eps}"
- soft_upper_limit="${0.0 * deg_to_rad - arm_eps}" /> -->
- </joint>
- <gazebo reference="arm_right_1_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_right_2_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_right_3_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_right_4_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_right_1_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_right_2_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_right_3_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_right_4_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <!--************************-->
- <!-- WRIST -->
- <!--************************-->
- <!--************************-->
- <!-- WRIST -->
- <!--************************-->
- <link name="arm_right_5_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00006 0.00326 0.07963"/>
- <!-- <mass value="1.87792"/> -->
- <mass value="1.77792"/>
- <inertia ixx="0.00349500000" ixy="-0.00001300000" ixz="-0.00001000000" iyy="0.00436800000" iyz="0.00009700000" izz="0.00228300000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 -1 1"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 -1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_right_5_joint" type="revolute">
- <parent link="arm_right_4_link"/>
- <child link="arm_right_5_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="-0.02000 0.00000 -0.26430"/>
- <axis xyz="0 0 1"/>
- <limit effort="3" lower="-2.53072741539" upper="2.53072741539" velocity="1.95"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-145.00000 * deg_to_rad + wrist_eps}"
- soft_upper_limit="${145.00000 * deg_to_rad - wrist_eps}" /> -->
- </joint>
- <link name="arm_right_6_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00002 -0.00197 -0.00059"/>
- <!-- <mass value="0.40931"/> -->
- <mass value="0.30931"/>
- <inertia ixx="0.00010700000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00014100000" iyz="-0.00000000000" izz="0.00015400000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 -1 1"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 -1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_right_6_joint" type="revolute">
- <parent link="arm_right_5_link"/>
- <child link="arm_right_6_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="1 0 0"/>
- <limit effort="6.6" lower="-1.3962634016" upper="1.3962634016" velocity="1.76"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-80.00000 * deg_to_rad + eps_radians}"
- soft_upper_limit="${80.00000 * deg_to_rad - eps_radians}" /> -->
- </joint>
- <link name="arm_right_7_link">
- <!-- WRONG VALUES
- <inertial>
- <origin xyz="-0.00089 0.00365 -0.07824" rpy="0.00000 0.00000 0.00000"/>
- <mass value="1.02604"/>
- <inertia ixx="0.00151400000" ixy="0.00000600000" ixz="0.00006600000"
- iyy="0.00146400000" iyz="0.00001200000"
- izz="0.00090300000"/>
- </inertial>
- -->
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.007525 0.001378 -0.024630"/>
- <mass value="0.308441"/>
- <inertia ixx="0.000309" ixy="0.000002" ixz="-0.000002" iyy="0.000219" iyz="0.000012" izz="0.000176"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_7_collision.STL" scale="1 -1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_7_collision.STL" scale="1 -1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_right_7_joint" type="revolute">
- <parent link="arm_right_6_link"/>
- <child link="arm_right_7_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
- <axis xyz="0 1 0"/>
- <limit effort="6.6" lower="-0.698131700798" upper="0.698131700798" velocity="1.76"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-40.00000 * deg_to_rad + eps_radians}"
- soft_upper_limit="${40.00000 * deg_to_rad - eps_radians}" /> -->
- </joint>
- <gazebo reference="arm_right_5_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="arm_right_6_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="arm_right_7_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_right_5_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_right_6_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_right_7_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <!-- extensions -->
- <transmission name="arm_right_5_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_right_5_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_right_5_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="wrist_right_trans">
- <type>transmission_interface/DifferentialTransmission</type>
- <actuator name="arm_right_6_motor">
- <role>actuator1</role>
- <mechanicalReduction>-1.0</mechanicalReduction>
- </actuator>
- <actuator name="arm_right_7_motor">
- <role>actuator2</role>
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_right_6_joint">
- <role>joint1</role>
- <offset>0.0</offset>
- <mechanicalReduction>-1.0</mechanicalReduction>
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- <joint name="arm_right_7_joint">
- <role>joint2</role>
- <offset>0.0</offset>
- <mechanicalReduction>1.0</mechanicalReduction>
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <!-- extensions -->
- <transmission name="arm_right_1_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_right_1_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_right_1_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="arm_right_2_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_right_2_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_right_2_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="arm_right_3_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_right_3_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_right_3_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="arm_right_4_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_right_4_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_right_4_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <!--************************-->
- <!-- ft sensor -->
- <!--************************-->
- <link name="wrist_right_ft_link">
- <inertial>
- <mass value="0.1"/>
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <cylinder length="0.0157" radius="0.0225"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <cylinder length="0.0157" radius="0.0225"/>
- </geometry>
- </collision>
- </link>
- <joint name="wrist_right_ft_joint" type="fixed">
- <parent link="arm_right_7_link"/>
- <child link="wrist_right_ft_link"/>
- <origin rpy="0.0 0 -1.57079632679" xyz="0 0 -0.051"/>
- </joint>
- <!--***********************-->
- <!-- FT TOOL -->
- <!--***********************-->
- <link name="wrist_right_ft_tool_link">
- <inertial>
- <mass value="0.1"/>
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
- <visual>
- <origin rpy="0 0.0 0" xyz="0.0 0 0"/>
- <geometry>
- <cylinder length="0.00975" radius="0.025"/>
- </geometry>
- <material name="FlatBlack"/>
- </visual>
- <collision>
- <origin rpy="0 0.0 0" xyz="0.0 0 0"/>
- <geometry>
- <cylinder length="0.00975" radius="0.025"/>
- </geometry>
- </collision>
- </link>
- <joint name="wrist_right_tool_joint" type="fixed">
- <parent link="wrist_right_ft_link"/>
- <child link="wrist_right_ft_tool_link"/>
- <origin rpy="0 0 -1.57079632679" xyz="0 0 -0.012725"/>
- </joint>
- <!--************************-->
- <!-- ft sensor -->
- <!--************************-->
- <link name="wrist_left_ft_link">
- <inertial>
- <mass value="0.1"/>
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <cylinder length="0.0157" radius="0.0225"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <cylinder length="0.0157" radius="0.0225"/>
- </geometry>
- </collision>
- </link>
- <joint name="wrist_left_ft_joint" type="fixed">
- <parent link="arm_left_7_link"/>
- <child link="wrist_left_ft_link"/>
- <origin rpy="0.0 0 -4.71238898038" xyz="0 0 -0.051"/>
- </joint>
- <!--***********************-->
- <!-- FT TOOL -->
- <!--***********************-->
- <link name="wrist_left_ft_tool_link">
- <inertial>
- <mass value="0.1"/>
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
- <visual>
- <origin rpy="0 0.0 0" xyz="0.0 0 0"/>
- <geometry>
- <cylinder length="0.00975" radius="0.025"/>
- </geometry>
- <material name="FlatBlack"/>
- </visual>
- <collision>
- <origin rpy="0 0.0 0" xyz="0.0 0 0"/>
- <geometry>
- <cylinder length="0.00975" radius="0.025"/>
- </geometry>
- </collision>
- </link>
- <joint name="wrist_left_tool_joint" type="fixed">
- <parent link="wrist_left_ft_link"/>
- <child link="wrist_left_ft_tool_link"/>
- <origin rpy="0 0 4.71238898038" xyz="0 0 -0.012725"/>
- </joint>
- <link name="gripper_left_base_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00534 0.00362 -0.02357"/>
- <mass value="0.61585"/>
- <inertia ixx="0.00047200000" ixy="-0.00000800000" ixz="0.00003500000" iyy="0.00052100000" iyz="0.00000000000" izz="0.00069000000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/base_link.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_left_base_link_joint" type="fixed">
- <parent link="wrist_left_ft_tool_link"/>
- <child link="gripper_left_base_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.02875"/>
- <axis xyz="0 0 0"/>
- </joint>
- <link name="gripper_left_motor_double_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02270 0.01781 -0.00977"/>
- <mass value="0.16889"/>
- <!-- In order for Gazebo not to explode we needed to add these 0.001 values to the diagonal,
- also the tool pal_dynamics InertiaMassVisualization gave NaN on the computation of the inertia box -->
- <inertia ixx="0.001159" ixy="-0.00007000000" ixz="0.00003800000" iyy="0.001221" iyz="-0.00005300000" izz="0.001268"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
- </geometry>
- <material name="Orange"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_left_joint" type="revolute">
- <parent link="gripper_left_base_link"/>
- <child link="gripper_left_motor_double_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.02025 -0.03"/>
- <axis xyz="1 0 0"/>
- <limit effort="1.0" lower="-1.0471975512" upper="0.0" velocity="1.0"/>
- <dynamics damping="1.0" friction="1.0"/>
- </joint>
- <link name="gripper_left_inner_double_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00056 0.03358 -0.01741"/>
- <mass value="0.11922"/>
- <inertia ixx="0.00009100000" ixy="0.00000100000" ixz="-0.00000100000" iyy="0.00015600000" iyz="-0.00003200000" izz="0.00012600000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
- </geometry>
- <material name="Orange"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_left_inner_double_joint" type="revolute">
- <parent link="gripper_left_base_link"/>
- <child link="gripper_left_inner_double_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00525 -0.05598"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="-1.0471975512" upper="0.0" velocity="1.0"/>
- <mimic joint="gripper_left_joint" multiplier="1.0" offset="0.0"/>
- </joint>
- <link name="gripper_left_fingertip_1_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_left_fingertip_1_joint" type="revolute">
- <parent link="gripper_left_inner_double_link"/>
- <child link="gripper_left_fingertip_1_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.03200 0.04589 -0.06553"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <link name="gripper_left_fingertip_2_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_left_fingertip_2_joint" type="revolute">
- <parent link="gripper_left_inner_double_link"/>
- <child link="gripper_left_fingertip_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="-0.03200 0.04589 -0.06553"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <link name="gripper_left_motor_single_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02589 -0.01284 -0.00640"/>
- <mass value="0.14765"/>
- <inertia ixx="0.00011500000" ixy="0.00005200000" ixz="0.00002500000" iyy="0.00015300000" iyz="0.00003400000" izz="0.00019000000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
- </geometry>
- <material name="Orange"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_left_motor_single_joint" type="revolute">
- <parent link="gripper_left_base_link"/>
- <child link="gripper_left_motor_single_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.02025 -0.03000"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <link name="gripper_left_inner_single_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.03253 -0.01883"/>
- <mass value="0.05356"/>
- <inertia ixx="0.00004700000" ixy="-0.00000000000" ixz="-0.00000000000" iyy="0.00003500000" iyz="0.00001700000" izz="0.00002400000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
- </geometry>
- <material name="Orange"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_left_inner_single_joint" type="revolute">
- <parent link="gripper_left_base_link"/>
- <child link="gripper_left_inner_single_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.00525 -0.05598"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <link name="gripper_left_fingertip_3_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_left_fingertip_3_joint" type="revolute">
- <parent link="gripper_left_inner_single_link"/>
- <child link="gripper_left_fingertip_3_link"/>
- <origin rpy="0.0 0.0 3.14159265359" xyz="0.00000 -0.04589 -0.06553"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <gazebo>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_inner_double_joint">
- <joint>gripper_left_joint</joint>
- <mimicJoint>gripper_left_inner_double_joint</mimicJoint>
- <multiplier>1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_fingertip_1_joint">
- <joint>gripper_left_joint</joint>
- <mimicJoint>gripper_left_fingertip_1_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_fingertip_2_joint">
- <joint>gripper_left_joint</joint>
- <mimicJoint>gripper_left_fingertip_2_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_inner_single_joint">
- <joint>gripper_left_joint</joint>
- <mimicJoint>gripper_left_inner_single_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_motor_single_joint">
- <joint>gripper_left_joint</joint>
- <mimicJoint>gripper_left_motor_single_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_fingertip_3_joint">
- <joint>gripper_left_joint</joint>
- <mimicJoint>gripper_left_fingertip_3_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- </gazebo>
- <!-- <plugin filename="libgazebo_underactuated_finger.so" name="gazebo_${name}_underactuated">
- <actuatedJoint>${name}_joint</actuatedJoint>
- <virtualJoint>
- <name>${name}_inner_double_joint</name>
- <scale_factor>1.0</scale_factor>
- </virtualJoint> -->
- <!-- <virtualJoint>
- <name>${name}_fingertip_1_joint</name>
- <scale_factor>-1.0</scale_factor>
- </virtualJoint>
- <virtualJoint>
- <name>${name}_fingertip_2_joint</name>
- <scale_factor>-1.0</scale_factor>
- </virtualJoint>
- <virtualJoint>
- <name>${name}_motor_single_joint</name>
- <scale_factor>1.0</scale_factor>
- </virtualJoint>
- <virtualJoint>
- <name>${name}_fingertip_3_joint</name>
- <scale_factor>-1.0</scale_factor>
- </virtualJoint> -->
- <!-- </plugin> -->
- <gazebo reference="gripper_left_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_left_inner_double_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_left_fingertip_1_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_left_fingertip_2_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_left_motor_single_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_left_fingertip_3_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_left_base_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="gripper_left_motor_double_link">
- <material>Gazebo/Orange</material>
- </gazebo>
- <gazebo reference="gripper_left_inner_double_link">
- <material>Gazebo/Orange</material>
- </gazebo>
- <gazebo reference="gripper_left_fingertip_1_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="gripper_left_motor_single_link">
- <material>Gazebo/Orange</material>
- </gazebo>
- <gazebo reference="gripper_left_inner_single_link">
- <material>Gazebo/Orange</material>
- </gazebo>
- <gazebo reference="gripper_left_fingertip_2_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="gripper_left_fingertip_3_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <transmission name="gripper_left_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="gripper_left_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="gripper_left_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <!-- virtual mimic joints -->
- <!-- <xacro:gripper_virtual_transmission name="${name}_inner_double" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_fingertip_1" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_fingertip_2" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_inner_single" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_motor_single" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_fingertip_3" reduction="1.0"/> -->
- <link name="gripper_right_base_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00534 0.00362 -0.02357"/>
- <mass value="0.61585"/>
- <inertia ixx="0.00047200000" ixy="-0.00000800000" ixz="0.00003500000" iyy="0.00052100000" iyz="0.00000000000" izz="0.00069000000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/base_link.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_right_base_link_joint" type="fixed">
- <parent link="wrist_right_ft_tool_link"/>
- <child link="gripper_right_base_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.02875"/>
- <axis xyz="0 0 0"/>
- </joint>
- <link name="gripper_right_motor_double_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02270 0.01781 -0.00977"/>
- <mass value="0.16889"/>
- <!-- In order for Gazebo not to explode we needed to add these 0.001 values to the diagonal,
- also the tool pal_dynamics InertiaMassVisualization gave NaN on the computation of the inertia box -->
- <inertia ixx="0.001159" ixy="-0.00007000000" ixz="0.00003800000" iyy="0.001221" iyz="-0.00005300000" izz="0.001268"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
- </geometry>
- <material name="Orange"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_right_joint" type="revolute">
- <parent link="gripper_right_base_link"/>
- <child link="gripper_right_motor_double_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.02025 -0.03"/>
- <axis xyz="1 0 0"/>
- <limit effort="1.0" lower="-1.0471975512" upper="0.0" velocity="1.0"/>
- <dynamics damping="1.0" friction="1.0"/>
- </joint>
- <link name="gripper_right_inner_double_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00056 0.03358 -0.01741"/>
- <mass value="0.11922"/>
- <inertia ixx="0.00009100000" ixy="0.00000100000" ixz="-0.00000100000" iyy="0.00015600000" iyz="-0.00003200000" izz="0.00012600000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
- </geometry>
- <material name="Orange"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_right_inner_double_joint" type="revolute">
- <parent link="gripper_right_base_link"/>
- <child link="gripper_right_inner_double_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00525 -0.05598"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="-1.0471975512" upper="0.0" velocity="1.0"/>
- <mimic joint="gripper_right_joint" multiplier="1.0" offset="0.0"/>
- </joint>
- <link name="gripper_right_fingertip_1_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_right_fingertip_1_joint" type="revolute">
- <parent link="gripper_right_inner_double_link"/>
- <child link="gripper_right_fingertip_1_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.03200 0.04589 -0.06553"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <link name="gripper_right_fingertip_2_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_right_fingertip_2_joint" type="revolute">
- <parent link="gripper_right_inner_double_link"/>
- <child link="gripper_right_fingertip_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="-0.03200 0.04589 -0.06553"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <link name="gripper_right_motor_single_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02589 -0.01284 -0.00640"/>
- <mass value="0.14765"/>
- <inertia ixx="0.00011500000" ixy="0.00005200000" ixz="0.00002500000" iyy="0.00015300000" iyz="0.00003400000" izz="0.00019000000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
- </geometry>
- <material name="Orange"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_right_motor_single_joint" type="revolute">
- <parent link="gripper_right_base_link"/>
- <child link="gripper_right_motor_single_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.02025 -0.03000"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <link name="gripper_right_inner_single_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.03253 -0.01883"/>
- <mass value="0.05356"/>
- <inertia ixx="0.00004700000" ixy="-0.00000000000" ixz="-0.00000000000" iyy="0.00003500000" iyz="0.00001700000" izz="0.00002400000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
- </geometry>
- <material name="Orange"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_right_inner_single_joint" type="revolute">
- <parent link="gripper_right_base_link"/>
- <child link="gripper_right_inner_single_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.00525 -0.05598"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <link name="gripper_right_fingertip_3_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_right_fingertip_3_joint" type="revolute">
- <parent link="gripper_right_inner_single_link"/>
- <child link="gripper_right_fingertip_3_link"/>
- <origin rpy="0.0 0.0 3.14159265359" xyz="0.00000 -0.04589 -0.06553"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <gazebo>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_inner_double_joint">
- <joint>gripper_right_joint</joint>
- <mimicJoint>gripper_right_inner_double_joint</mimicJoint>
- <multiplier>1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_fingertip_1_joint">
- <joint>gripper_right_joint</joint>
- <mimicJoint>gripper_right_fingertip_1_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_fingertip_2_joint">
- <joint>gripper_right_joint</joint>
- <mimicJoint>gripper_right_fingertip_2_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_inner_single_joint">
- <joint>gripper_right_joint</joint>
- <mimicJoint>gripper_right_inner_single_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_motor_single_joint">
- <joint>gripper_right_joint</joint>
- <mimicJoint>gripper_right_motor_single_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_fingertip_3_joint">
- <joint>gripper_right_joint</joint>
- <mimicJoint>gripper_right_fingertip_3_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- </gazebo>
- <!-- <plugin filename="libgazebo_underactuated_finger.so" name="gazebo_${name}_underactuated">
- <actuatedJoint>${name}_joint</actuatedJoint>
- <virtualJoint>
- <name>${name}_inner_double_joint</name>
- <scale_factor>1.0</scale_factor>
- </virtualJoint> -->
- <!-- <virtualJoint>
- <name>${name}_fingertip_1_joint</name>
- <scale_factor>-1.0</scale_factor>
- </virtualJoint>
- <virtualJoint>
- <name>${name}_fingertip_2_joint</name>
- <scale_factor>-1.0</scale_factor>
- </virtualJoint>
- <virtualJoint>
- <name>${name}_motor_single_joint</name>
- <scale_factor>1.0</scale_factor>
- </virtualJoint>
- <virtualJoint>
- <name>${name}_fingertip_3_joint</name>
- <scale_factor>-1.0</scale_factor>
- </virtualJoint> -->
- <!-- </plugin> -->
- <gazebo reference="gripper_right_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_right_inner_double_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_right_fingertip_1_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_right_fingertip_2_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_right_motor_single_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_right_fingertip_3_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_right_base_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="gripper_right_motor_double_link">
- <material>Gazebo/Orange</material>
- </gazebo>
- <gazebo reference="gripper_right_inner_double_link">
- <material>Gazebo/Orange</material>
- </gazebo>
- <gazebo reference="gripper_right_fingertip_1_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="gripper_right_motor_single_link">
- <material>Gazebo/Orange</material>
- </gazebo>
- <gazebo reference="gripper_right_inner_single_link">
- <material>Gazebo/Orange</material>
- </gazebo>
- <gazebo reference="gripper_right_fingertip_2_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="gripper_right_fingertip_3_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <transmission name="gripper_right_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="gripper_right_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="gripper_right_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <!-- virtual mimic joints -->
- <!-- <xacro:gripper_virtual_transmission name="${name}_inner_double" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_fingertip_1" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_fingertip_2" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_inner_single" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_motor_single" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_fingertip_3" reduction="1.0"/> -->
- <!-- Joint hip_z (mesh link) : child link hip_x -> parent link base_link -->
- <link name="leg_left_1_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02320 -0.00009 0.04949"/>
- <mass value="1.88569"/>
- <inertia ixx="0.00384800000" ixy="0.00003200000" ixz="-0.00082600000" iyy="0.00599400000" iyz="0.00007800000" izz="0.00322200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_z_lo_res.stl" scale="1 1.0 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_z_collision.stl" scale="1 1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_left_1_joint" type="revolute">
- <parent link="base_link"/>
- <child link="leg_left_1_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="-0.02 0.085 -0.27105"/>
- <axis xyz="0 0 1"/>
- <limit effort="100" lower="-0.349065850399" upper="1.57079632679" velocity="3.87"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint hip_x (mesh link) : child link hip_y -> parent link hip_z -->
- <link name="leg_left_2_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.01583 -0.00021 0.00619"/>
- <mass value="2.37607"/>
- <inertia ixx="0.00342100000" ixy="-0.00011300000" ixz="-0.00022500000" iyy="0.00402400000" iyz="-0.00003100000" izz="0.00416400000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_x_lo_res.stl" scale="1 1.0 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_x_collision.stl" scale="1 1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_left_2_joint" type="revolute">
- <parent link="leg_left_1_link"/>
- <child link="leg_left_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="1 0 0"/>
- <limit effort="160" lower="-0.5236" upper="0.5236" velocity="5.8"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint hip_y (mesh link) : child link knee -> parent link hip_x -->
- <link name="leg_left_3_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00658 0.06563 -0.17278"/>
- <mass value="6.82734"/>
- <inertia ixx="0.12390600000" ixy="-0.000412" ixz="-0.00205900000" iyy="0.10844700000" iyz="0.016725" izz="0.02781200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_y_lo_res.stl" scale="1 1.0 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_y_collision.stl" scale="1 1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_left_3_joint" type="revolute">
- <parent link="leg_left_2_link"/>
- <child link="leg_left_3_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="0 1 0"/>
- <limit effort="160" lower="-2.095" upper="0.7" velocity="5.8"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint knee (mesh link) : child link ankle_y -> parent link hip_y -->
- <link name="leg_left_4_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.01520 0.02331 -0.12063"/>
- <mass value="3.63668"/>
- <inertia ixx="0.03531500000" ixy="2.9e-05" ixz="-0.00016600000" iyy="0.02933600000" iyz="-0.001305" izz="0.01174000000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/knee_lo_res.stl" scale="1 1.0 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/knee_collision.stl" scale="1 1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_left_4_joint" type="revolute">
- <parent link="leg_left_3_link"/>
- <child link="leg_left_4_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.38000"/>
- <axis xyz="0 1 0"/>
- <limit effort="300" lower="0" upper="2.618" velocity="7"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint ankle_y (mesh link) : child link ankle_x -> parent link knee -->
- <link name="leg_left_5_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01106 0.04708 0.05271"/>
- <mass value="1.24433"/>
- <inertia ixx="0.01148700000" ixy="-0.000686" ixz="-0.00052600000" iyy="0.00952600000" iyz="0.002633" izz="0.00390800000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_Y_lo_res.stl" scale="1 1.0 1"/>
- </geometry>
- <material name="Grey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_Y_collision.stl" scale="1 1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_left_5_joint" type="revolute">
- <parent link="leg_left_4_link"/>
- <child link="leg_left_5_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.32500"/>
- <axis xyz="0 1 0"/>
- <limit effort="160" lower="-1.309" upper="0.768" velocity="5.8"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint ankle_x (mesh link) : child link None -> parent link ankle_y -->
- <link name="leg_left_6_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.02087 -0.00019 -0.06059"/>
- <mass value="1.59457"/>
- <inertia ixx="0.00383800000" ixy="0.00001600000" ixz="-0.00104100000" iyy="0.00657200000" iyz="-0.00001700000" izz="0.00504400000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_X_lo_res.stl" scale="1 1.0 1"/>
- </geometry>
- <material name="Grey"/>
- </visual>
- <!--
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
- </geometry>
- </collision>
-
- -->
- <collision>
- <origin rpy="0 0 0" xyz="0 0 -0.1"/>
- <geometry>
- <box size="0.21 0.13 0.02"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_left_6_joint" type="revolute">
- <parent link="leg_left_5_link"/>
- <child link="leg_left_6_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="1 0 0"/>
- <limit effort="100" lower="-0.5236" upper="0.5236" velocity="4.8"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- from here is copy paste -->
- <link name="left_sole_link">
- <inertial>
- <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
- <mass value="0.01"/>
- <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
- </inertial>
- </link>
- <joint name="leg_left_sole_fix_joint" type="fixed">
- <parent link="leg_left_6_link"/>
- <child link="left_sole_link"/>
- <origin rpy="0 0 0" xyz="0.00 0.00 -0.107"/>
- <axis xyz="1 0 0"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <transmission name="leg_left_1_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_left_1_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_left_1_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_left_2_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_left_2_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_left_2_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_left_3_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_left_3_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_left_3_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_left_4_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_left_4_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_left_4_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_left_5_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_left_5_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_left_5_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_left_6_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_left_6_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_left_6_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <gazebo reference="leg_left_1_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_left_2_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_left_3_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_left_4_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_left_5_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <!-- contact model for foot surface -->
- <gazebo reference="leg_left_6_link">
- <kp>1000000.0</kp>
- <kd>100.0</kd>
- <mu1>1.0</mu1>
- <mu2>1.0</mu2>
- <fdir1>1 0 0</fdir1>
- <maxVel>1.0</maxVel>
- <minDepth>0.00</minDepth>
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_left_1_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_left_2_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_left_3_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_left_4_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_left_5_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_left_6_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="leg_left_1_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_left_2_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_left_3_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_left_4_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_left_5_link">
- <material>Gazebo/White</material>
- </gazebo>
- <gazebo reference="leg_left_6_link">
- <material>Gazebo/White</material>
- </gazebo>
- <!-- Joint hip_z (mesh link) : child link hip_x -> parent link base_link -->
- <link name="leg_right_1_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02320 -0.00009 0.04949"/>
- <mass value="1.88569"/>
- <inertia ixx="0.00384800000" ixy="0.00003200000" ixz="-0.00082600000" iyy="0.00599400000" iyz="0.00007800000" izz="0.00322200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_z_lo_res.stl" scale="1 -1.0 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_z_collision.stl" scale="1 -1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_right_1_joint" type="revolute">
- <parent link="base_link"/>
- <child link="leg_right_1_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="-0.02 -0.085 -0.27105"/>
- <axis xyz="0 0 1"/>
- <limit effort="100" lower="-1.57079632679" upper="0.349065850399" velocity="3.87"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint hip_x (mesh link) : child link hip_y -> parent link hip_z -->
- <link name="leg_right_2_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.01583 -0.00021 0.00619"/>
- <mass value="2.37607"/>
- <inertia ixx="0.00342100000" ixy="-0.00011300000" ixz="-0.00022500000" iyy="0.00402400000" iyz="-0.00003100000" izz="0.00416400000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_x_lo_res.stl" scale="1 -1.0 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_x_collision.stl" scale="1 -1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_right_2_joint" type="revolute">
- <parent link="leg_right_1_link"/>
- <child link="leg_right_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="1 0 0"/>
- <limit effort="160" lower="-0.5236" upper="0.5236" velocity="5.8"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint hip_y (mesh link) : child link knee -> parent link hip_x -->
- <link name="leg_right_3_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00658 -0.06563 -0.17278"/>
- <mass value="6.82734"/>
- <inertia ixx="0.12390600000" ixy="0.000412" ixz="-0.00205900000" iyy="0.10844700000" iyz="-0.016725" izz="0.02781200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_y_lo_res.stl" scale="1 -1.0 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_y_collision.stl" scale="1 -1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_right_3_joint" type="revolute">
- <parent link="leg_right_2_link"/>
- <child link="leg_right_3_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="0 1 0"/>
- <limit effort="160" lower="-2.095" upper="0.7" velocity="5.8"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint knee (mesh link) : child link ankle_y -> parent link hip_y -->
- <link name="leg_right_4_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.01520 -0.02331 -0.12063"/>
- <mass value="3.63668"/>
- <inertia ixx="0.03531500000" ixy="-2.9e-05" ixz="-0.00016600000" iyy="0.02933600000" iyz="0.001305" izz="0.01174000000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/knee_lo_res.stl" scale="1 -1.0 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/knee_collision.stl" scale="1 -1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_right_4_joint" type="revolute">
- <parent link="leg_right_3_link"/>
- <child link="leg_right_4_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.38000"/>
- <axis xyz="0 1 0"/>
- <limit effort="300" lower="0" upper="2.618" velocity="7"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint ankle_y (mesh link) : child link ankle_x -> parent link knee -->
- <link name="leg_right_5_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01106 -0.04708 0.05271"/>
- <mass value="1.24433"/>
- <inertia ixx="0.01148700000" ixy="0.000686" ixz="-0.00052600000" iyy="0.00952600000" iyz="-0.002633" izz="0.00390800000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_Y_lo_res.stl" scale="1 -1.0 1"/>
- </geometry>
- <material name="Grey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_Y_collision.stl" scale="1 -1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_right_5_joint" type="revolute">
- <parent link="leg_right_4_link"/>
- <child link="leg_right_5_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.32500"/>
- <axis xyz="0 1 0"/>
- <limit effort="160" lower="-1.309" upper="0.768" velocity="5.8"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint ankle_x (mesh link) : child link None -> parent link ankle_y -->
- <link name="leg_right_6_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.02087 -0.00019 -0.06059"/>
- <mass value="1.59457"/>
- <inertia ixx="0.00383800000" ixy="0.00001600000" ixz="-0.00104100000" iyy="0.00657200000" iyz="-0.00001700000" izz="0.00504400000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_X_lo_res.stl" scale="1 -1.0 1"/>
- </geometry>
- <material name="Grey"/>
- </visual>
- <!--
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
- </geometry>
- </collision>
-
- -->
- <collision>
- <origin rpy="0 0 0" xyz="0 0 -0.1"/>
- <geometry>
- <box size="0.21 0.13 0.02"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_right_6_joint" type="revolute">
- <parent link="leg_right_5_link"/>
- <child link="leg_right_6_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="1 0 0"/>
- <limit effort="100" lower="-0.5236" upper="0.5236" velocity="4.8"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- from here is copy paste -->
- <link name="right_sole_link">
- <inertial>
- <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
- <mass value="0.01"/>
- <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
- </inertial>
- </link>
- <joint name="leg_right_sole_fix_joint" type="fixed">
- <parent link="leg_right_6_link"/>
- <child link="right_sole_link"/>
- <origin rpy="0 0 0" xyz="0.00 0.00 -0.107"/>
- <axis xyz="1 0 0"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <transmission name="leg_right_1_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_right_1_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_right_1_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_right_2_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_right_2_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_right_2_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_right_3_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_right_3_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_right_3_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_right_4_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_right_4_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_right_4_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_right_5_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_right_5_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_right_5_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_right_6_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_right_6_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_right_6_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <gazebo reference="leg_right_1_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_right_2_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_right_3_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_right_4_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_right_5_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <!-- contact model for foot surface -->
- <gazebo reference="leg_right_6_link">
- <kp>1000000.0</kp>
- <kd>100.0</kd>
- <mu1>1.0</mu1>
- <mu2>1.0</mu2>
- <fdir1>1 0 0</fdir1>
- <maxVel>1.0</maxVel>
- <minDepth>0.00</minDepth>
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_right_1_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_right_2_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_right_3_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_right_4_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_right_5_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_right_6_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="leg_right_1_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_right_2_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_right_3_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_right_4_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_right_5_link">
- <material>Gazebo/White</material>
- </gazebo>
- <gazebo reference="leg_right_6_link">
- <material>Gazebo/White</material>
- </gazebo>
- <!-- Generic simulatalos_gazebo plugins -->
- <gazebo>
- <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
- <ns/>
- <robotSimType>pal_hardware_gazebo/PalHardwareGazebo</robotSimType>
- <robotNamespace/>
- <controlPeriod>0.001</controlPeriod>
- </plugin>
- </gazebo>
- <gazebo>
- <plugin filename="libgazebo_world_odometry.so" name="gazebo_ros_odometry">
- <frameName>base_link</frameName>
- <topicName>floating_base_pose_simulated</topicName>
- </plugin>
- </gazebo>
- <gazebo>
- <plugin filename="libgazebo_ros_force.so" name="gazebo_ros_force">
- <bodyName>base_link</bodyName>
- <topicName>wrench</topicName>
- </plugin>
- </gazebo>
- <gazebo reference="imu_link">
- <!-- this is expected to be reparented to pelvis with appropriate offset
- when imu_link is reduced by fixed joint reduction -->
- <!-- todo: this is working with gazebo 1.4, need to write a unit test -->
- <sensor name="imu_sensor" type="imu">
- <always_on>1</always_on>
- <update_rate>1000.0</update_rate>
- <imu>
- <noise>
- <type>gaussian</type>
- <!-- Noise parameters from Boston Dynamics
- (http://gazebosim.org/wiki/Sensor_noise):
- rates (rad/s): mean=0, stddev=2e-4
- accels (m/s/s): mean=0, stddev=1.7e-2
- rate bias (rad/s): 5e-6 - 1e-5
- accel bias (m/s/s): 1e-1
- Experimentally, simulation provide rates with noise of
- about 1e-3 rad/s and accels with noise of about 1e-1 m/s/s.
- So we don't expect to see the noise unless number of inner iterations
- are increased.
-
- We will add bias. In this model, bias is sampled once for rates
- and once for accels at startup; the sign (negative or positive)
- of each bias is then switched with equal probability. Thereafter,
- the biases are fixed additive offsets. We choose
- bias means and stddevs to produce biases close to the provided
- data. -->
- <!--
- <rate>
- <mean>0.0</mean>
- <stddev>2e-4</stddev>
- <bias_mean>0.0000075</bias_mean>
- <bias_stddev>0.0000008</bias_stddev>
- </rate>
- <accel>
- <mean>0.0</mean>
- <stddev>1.7e-2</stddev>
- <bias_mean>0.1</bias_mean>
- <bias_stddev>0.001</bias_stddev>
- </accel>
- -->
- <rate>
- <mean>0.0</mean>
- <stddev>0.0</stddev>
- <bias_mean>0.000000</bias_mean>
- <bias_stddev>0.0000008</bias_stddev>
- </rate>
- <accel>
- <mean>0.0</mean>
- <stddev>0.0</stddev>
- <bias_mean>0.0</bias_mean>
- <bias_stddev>0.000</bias_stddev>
- </accel>
- </noise>
- </imu>
- </sensor>
- </gazebo>
- <!-- define global properties -->
- <!-- <xacro:property name="M_PI" value="3.1415926535897931" /> -->
- <!-- Materials for visualization -->
- <material name="Blue">
- <color rgba="0.0 0.0 0.8 1.0"/>
- </material>
- <material name="Green">
- <color rgba="0.0 0.8 0.0 1.0"/>
- </material>
- <material name="Grey">
- <color rgba="0.7 0.7 0.7 1.0"/>
- </material>
- <material name="LightGrey">
- <color rgba="0.9 0.9 0.9 1.0"/>
- </material>
- <material name="DarkGrey">
- <color rgba="0.2 0.2 0.2 1.0"/>
- </material>
- <material name="Red">
- <color rgba="0.8 0.0 0.0 1.0"/>
- </material>
- <material name="White">
- <color rgba="1.0 1.0 1.0 1.0"/>
- </material>
- <material name="Orange">
- <color rgba="1.0 0.5 0.0 1.0"/>
- </material>
-</robot>
-
diff --git a/robots/talos_full_no_grippers.urdf.xacro b/robots/talos_full_no_grippers.urdf.xacro
index c7c985679e8584423d25278904da9194eb1fbcfa..95c941613afc5a25282a4b1a02948e72fcd6387d 100644
--- a/robots/talos_full_no_grippers.urdf.xacro
+++ b/robots/talos_full_no_grippers.urdf.xacro
@@ -13,14 +13,24 @@
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
- <xacro:include filename="$(find talos_data)/urdf/torso/torso.urdf.xacro" />
- <xacro:include filename="$(find talos_data)/urdf/head/head.urdf.xacro" />
- <xacro:include filename="$(find talos_data)/urdf/arm/arm.urdf.xacro" />
- <xacro:include filename="$(find talos_data)/urdf/sensors/ftsensor.urdf.xacro" />
- <xacro:include filename="$(find talos_data)/urdf/leg/leg.urdf.xacro" />
+ <xacro:if value="$(arg enable_crane)">
+ <xacro:include filename="$(find talos_description)/urdf/crane/crane.urdf.xacro" />
+ </xacro:if>
+
+ <xacro:include filename="$(find talos_description)/urdf/torso/torso.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/head/head.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/arm/arm_v2.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/sensors/ftsensor.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/leg/leg.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/leg/foot_collision_$(arg foot_collision).urdf.xacro" />
+ <xacro:include filename="$(find talos_description_inertial)/urdf/inertial.xacro" />
<xacro:talos_torso name="torso" />
+ <xacro:if value="$(arg enable_crane)">
+ <xacro:crane parent="torso_2_link"/>
+ </xacro:if>
+
<xacro:talos_head name="head" parent="torso_2_link"/>
<xacro:talos_arm name="arm" parent="torso_2_link" side="left" reflect="1"/>
@@ -32,9 +42,9 @@
<xacro:talos_leg prefix="left" reflect="1" />
<xacro:talos_leg prefix="right" reflect="-1" />
- <!-- Generic simulatalos_gazebo plugins -->
- <xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
+ <!-- Generic simulator_gazebo plugins -->
+ <xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
<!-- Materials for visualization -->
- <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
</robot>
diff --git a/robots/talos_full_no_lower_arm.urdf.xacro b/robots/talos_full_no_lower_arm.urdf.xacro
deleted file mode 100644
index f9bd7e3d695623792aa884d17c41ec2190506a55..0000000000000000000000000000000000000000
--- a/robots/talos_full_no_lower_arm.urdf.xacro
+++ /dev/null
@@ -1,39 +0,0 @@
-<?xml version="1.0"?>
-<!--
-
- Copyright (c) 2016, PAL Robotics, S.L.
- All rights reserved.
-
- This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
- To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
- Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
--->
-<robot name="talos" xmlns:xacro="http://ros.org/wiki/xacro"
- xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
- xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
- xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
-
- <xacro:include filename="$(find talos_data)/urdf/torso/torso.urdf.xacro" />
- <xacro:include filename="$(find talos_data)/urdf/head/head.urdf.xacro" />
- <xacro:include filename="$(find talos_data)/urdf/arm/arm.urdf.xacro" />
- <xacro:include filename="$(find talos_data)/urdf/sensors/ftsensor.urdf.xacro" />
- <xacro:include filename="$(find talos_data)/urdf/gripper/gripper.urdf.xacro" />
- <xacro:include filename="$(find talos_data)/urdf/leg/leg.urdf.xacro" />
-
- <xacro:talos_torso name="torso" />
-
- <xacro:talos_head name="head" parent="torso_2_link"/>
-
- <xacro:talos_arm name="arm" parent="torso_2_link" side="left" reflect="1"/>
- <xacro:talos_arm name="arm" parent="torso_2_link" side="right" reflect="-1"/>
-
-
- <xacro:talos_leg prefix="left" reflect="1" />
- <xacro:talos_leg prefix="right" reflect="-1" />
-
- <!-- Generic simulatalos_gazebo plugins -->
- <xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
- <!-- Materials for visualization -->
- <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />
-
-</robot>
diff --git a/robots/talos_full_v1.urdf.xacro b/robots/talos_full_v1.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..130d71ea3485ded5bee5c4324e3fa36e7f7700c3
--- /dev/null
+++ b/robots/talos_full_v1.urdf.xacro
@@ -0,0 +1,55 @@
+<?xml version="1.0"?>
+<!--
+
+ Copyright (c) 2016, PAL Robotics, S.L.
+ All rights reserved.
+
+ This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
+ To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
+ Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
+-->
+<robot name="talos" xmlns:xacro="http://ros.org/wiki/xacro"
+ xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+ xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
+
+ <xacro:if value="$(arg enable_crane)">
+ <xacro:include filename="$(find talos_description)/urdf/crane/crane.urdf.xacro" />
+ </xacro:if>
+
+ <xacro:include filename="$(find talos_description)/urdf/torso/torso.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/head/head.urdf.xacro" />
+ <!--arm_v1 loadded because of the different joint range for 1st DoF-->
+ <xacro:include filename="$(find talos_description)/urdf/arm/arm_v1.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/sensors/ftsensor.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/gripper/gripper.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/leg/leg.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/leg/foot_collision_$(arg foot_collision).urdf.xacro" />
+ <xacro:include filename="$(find talos_description_inertial)/urdf/inertial.xacro" />
+
+ <xacro:talos_torso name="torso" />
+
+ <xacro:if value="$(arg enable_crane)">
+ <xacro:crane parent="torso_2_link"/>
+ </xacro:if>
+
+ <xacro:talos_head name="head" parent="torso_2_link"/>
+
+ <xacro:talos_arm name="arm" parent="torso_2_link" side="left" reflect="1"/>
+ <xacro:talos_arm name="arm" parent="torso_2_link" side="right" reflect="-1"/>
+
+ <xacro:ft_sensor name="wrist" parent="arm_right_7_link" side="right" reflect="1" />
+ <xacro:ft_sensor name="wrist" parent="arm_left_7_link" side="left" reflect="-1" />
+
+ <xacro:talos_gripper name="gripper_left" parent="wrist_left_ft_tool_link" reflect="1" />
+ <xacro:talos_gripper name="gripper_right" parent="wrist_right_ft_tool_link" reflect="-1" />
+
+ <xacro:talos_leg prefix="left" reflect="1" />
+ <xacro:talos_leg prefix="right" reflect="-1" />
+
+ <!-- Generic simulator_gazebo plugins -->
+ <xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
+ <!-- Materials for visualization -->
+ <xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
+
+</robot>
diff --git a/urdf/talos_full_accurate_gripper.urdf b/robots/talos_full_v2.urdf
similarity index 74%
rename from urdf/talos_full_accurate_gripper.urdf
rename to robots/talos_full_v2.urdf
index 94ba7d7a4c6273231bf3cd6001696717c72bec0c..10030e12781cb1390a7fa7940f9676d40c7beec5 100644
--- a/urdf/talos_full_accurate_gripper.urdf
+++ b/robots/talos_full_v2.urdf
@@ -1,6 +1,6 @@
<?xml version="1.0" ?>
<!-- =================================================================================== -->
-<!-- | This document was autogenerated by xacro from talos_full.urdf.xacro | -->
+<!-- | This document was autogenerated by xacro from ./talos_full_v2.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!--
@@ -13,44 +13,26 @@
Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
-->
<robot name="talos" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://ros.org/wiki/xacro">
- <!--File includes-->
- <!--Constant parameters-->
- <!--File includes-->
- <!-- Macro -->
- <!--Constant parameters-->
- <!--************************-->
- <!-- HEAD_1 (TILT) -->
- <!--************************-->
- <!--************************-->
- <!-- HEAD_2 (PAN) -->
- <!--************************-->
- <!--File includes-->
- <!--File includes-->
- <!--Constant parameters-->
- <!--Constant parameters-->
- <!--File includes-->
- <!-- VIRTUAL (mimic) JOINTS -->
- <!-- 0.45deg -->
<!--************************-->
<!-- TORSO_2 (TILT) -->
<!--************************-->
<link name="torso_2_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.04551 -0.00053 0.16386"/>
- <mass value="17.55011"/>
- <inertia ixx="0.37376900000" ixy="0.00063900000" ixz="0.01219600000" iyy="0.24790200000" iyz="0.00000700000" izz="0.28140400000"/>
+ <mass value="16.97403"/>
+ <inertia ixx="0.44372633826" ixy="0.00069132133" ixz="-0.01218206353" iyy="0.2998576068" iyz="-0.00019623338" izz="0.32201554742"/>
+ <origin rpy="0 0 0" xyz="-0.0463563 -0.00099023 0.1452805"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/torso/torso_2.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/torso/torso_2.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/torso/torso_2_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/torso/torso_2_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -59,30 +41,31 @@
<!--************************-->
<link name="torso_1_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00013 -0.00001 -0.01306"/>
- <mass value="3.02433"/>
- <inertia ixx="0.00759400000" ixy="0.00000100000" ixz="-0.00004800000" iyy="0.00429200000" iyz="-0.00000100000" izz="0.00749700000"/>
+ <mass value="2.294658"/>
+ <inertia ixx="0.00638508087" ixy="-7.107e-08" ixz="-3.065592e-05" iyy="0.00410256102" iyz="-1.46946e-06" izz="0.00622968815"/>
+ <origin rpy="0 0 0" xyz="0.00078223 3.528e-05 -0.01782457"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/torso/torso_1.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/torso/torso_1.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/torso/torso_1.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/torso/torso_1.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="torso_1_joint" type="revolute">
<parent link="base_link"/>
<child link="torso_1_link"/>
+ <!-- XXX AS: The kinematic chain order for the torso was reversed manually. This value does not match the CAD model. XXX -->
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0722"/>
<axis xyz="0 0 1"/>
- <limit effort="78.0" lower="-1.308996939" upper="1.308996939" velocity="5.4"/>
+ <limit effort="200.0" lower="-1.25663706144" upper="1.25663706144" velocity="5.4"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -94,21 +77,21 @@
<!--************************-->
<link name="base_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.08222 0.00838 -0.07261"/>
- <mass value="13.53810"/>
- <inertia ixx="0.06989000000" ixy="-0.00011700000" ixz="0.00023000000" iyy="0.03998200000" iyz="-0.00132500000" izz="0.08234500000"/>
+ <mass value="15.36284"/>
+ <inertia ixx="0.20105075811" ixy="0.00023244734" ixz="0.0040167728" iyy="0.08411496729" iyz="-0.00087206649" izz="0.2318908414"/>
+ <origin rpy="0 0 0" xyz="-0.05709419 0.00153054 -0.0762521"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/torso/base_link.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/torso/base_link.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -117,7 +100,7 @@
<child link="torso_2_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<axis xyz="0 1 0"/>
- <limit effort="78.0" lower="-0.261799387799" upper="0.785398163397" velocity="5.4"/>
+ <limit effort="200.0" lower="-0.226892802759" upper="0.733038285838" velocity="5.4"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -127,8 +110,8 @@
<link name="imu_link">
<inertial>
<mass value="0.01"/>
- <origin xyz="0 0 0"/>
- <inertia ixx="0.000001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.000001"/>
+ <inertia ixx="1e-06" ixy="0" ixz="0" iyy="1e-06" iyz="0" izz="1e-06"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
@@ -161,7 +144,6 @@
<implicitSpringDamper>1</implicitSpringDamper>
<provideFeedback>1</provideFeedback>
</gazebo>
- <!-- extensions -->
<transmission name="talos_torso_trans">
<type>transmission_interface/DifferentialTransmission</type>
<actuator name="torso_1_motor">
@@ -189,30 +171,30 @@
</transmission>
<link name="head_1_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00120 0.00145 0.02165"/>
- <mass value="0.65988"/>
- <inertia ixx="0.00122100000" ixy="-0.00000400000" ixz="0.00007000000" iyy="0.00092400000" iyz="-0.00004100000" izz="0.00103300000"/>
+ <mass value="0.73746"/>
+ <inertia ixx="0.00224878584" ixy="4.69375e-06" ixz="8.55557e-05" iyy="0.00111158492" iyz="-4.132536e-05" izz="0.00205225921"/>
+ <origin rpy="0 0 0" xyz="-0.00157211 -0.00157919 0.02175767"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/head/head_1.stl" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/head/head_1.stl" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/head/head_1_collision.stl" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/head/head_1_collision.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="head_1_joint" type="revolute">
<parent link="torso_2_link"/>
<child link="head_1_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.31600"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.02000 0.00000 0.32100"/>
<axis xyz="0 1 0"/>
- <limit effort="8.0" lower="-0.261799387799" upper="0.785398163397" velocity="1.0"/>
+ <limit effort="8.0" lower="-0.209439510239" upper="0.785398163397" velocity="1.0"/>
<dynamics damping="0.5" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -231,21 +213,21 @@
</gazebo>
<link name="head_2_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01036 -0.00037 0.13778"/>
- <mass value="1.40353"/>
- <inertia ixx="0.00722500000" ixy="-0.00002500000" ixz="0.00032900000" iyy="0.00687300000" iyz="0.00004400000" izz="0.00437300000"/>
+ <mass value="1.443954"/>
+ <inertia ixx="0.01084624339" ixy="1.050889e-05" ixz="0.00041594252" iyy="0.0109569176" iyz="2.367831e-05" izz="0.00571698895"/>
+ <origin rpy="0 0 0" xyz="0.01002657 5.218e-05 0.14136068"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/head/head_2.stl" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/head/head_2.stl" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/head/head_2_collision.stl" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/head/head_2_collision.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -273,7 +255,7 @@
</gazebo>
<!-- frames in the center of the camera -->
<joint name="rgbd_joint" type="fixed">
- <origin rpy="0 0 0" xyz="0.066 0.0 0.1982"/>
+ <origin rpy="0.0 0.0 0.0" xyz="0.066 0.0 0.1982"/>
<axis xyz="0 0 1"/>
<!-- <limit lower="0" upper="0.001" effort="100" velocity="0.01"/> -->
<parent link="head_2_link"/>
@@ -282,14 +264,13 @@
<link name="rgbd_link">
<inertial>
<mass value="0.01"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <!-- inertia tensor computed analytically for a solid cuboid -->
- <inertia ixx="0.000030" ixy="0.0" ixz="0.0" iyy="0.000030" iyz="0.0" izz="0.000002"/>
+ <inertia ixx="3e-05" ixy="0" ixz="0" iyy="2e-06" iyz="0" izz="3e-05"/>
+ <origin rpy="-0.01 0.0025 0" xyz="0 0 0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/sensors/orbbec/orbbec.STL"/>
+ <mesh filename="package://talos_description/meshes/sensors/orbbec/orbbec.STL"/>
</geometry>
<material name="DarkGrey">
<color rgba="0.5 0.5 0.5 1"/>
@@ -310,8 +291,8 @@
<link name="rgbd_optical_frame">
<inertial>
<mass value="0.01"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
</inertial>
</link>
<!-- frames of the depth sensor -->
@@ -340,74 +321,79 @@
<child link="rgbd_rgb_optical_frame"/>
</joint>
<link name="rgbd_rgb_optical_frame"/>
- <!-- extensions -->
<gazebo reference="rgbd_link">
<!-- IR + depth -->
<sensor name="rgbd_frame_sensor" type="depth">
<always_on>true</always_on>
- <update_rate>6.0</update_rate>
+ <update_rate>30.0</update_rate>
<camera>
- <horizontal_fov>1.01229096616</horizontal_fov>
+ <horizontal_fov>1.0471975512</horizontal_fov>
<image>
- <format>R8G8B8</format>
- <width>320</width>
- <height>240</height>
+ <format>B8G8R8</format>
+ <width>640</width>
+ <height>480</height>
</image>
<clip>
- <near>0.45</near>
- <far>10.0</far>
+ <near>0.6</near>
+ <far>8.0</far>
</clip>
</camera>
<plugin filename="libgazebo_ros_openni_kinect.so" name="rgbd_frame_controller">
<alwaysOn>true</alwaysOn>
- <updateRate>6.0</updateRate>
+ <updateRate>30.0</updateRate>
<cameraName>rgbd</cameraName>
- <imageTopicName>ir/image_raw</imageTopicName>
- <cameraInfoTopicName>ir/camera_info</cameraInfoTopicName>
+ <imageTopicName>rgb/image_raw</imageTopicName>
+ <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
<depthImageTopicName>depth/image_raw</depthImageTopicName>
<depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
<pointCloudTopicName>depth/points</pointCloudTopicName>
<frameName>rgbd_optical_frame</frameName>
<pointCloudCutoff>0.45</pointCloudCutoff>
<rangeMax>10.0</rangeMax>
- <distalostionK1>0.00000001</distalostionK1>
- <distalostionK2>0.00000001</distalostionK2>
- <distalostionK3>0.00000001</distalostionK3>
- <distalostionT1>0.00000001</distalostionT1>
- <distalostionT2>0.00000001</distalostionT2>
+ <distortionK1>0.00000001</distortionK1>
+ <distortionK2>0.00000001</distortionK2>
+ <distortionK3>0.00000001</distortionK3>
+ <distortionT1>0.00000001</distortionT1>
+ <distortionT2>0.00000001</distortionT2>
</plugin>
</sensor>
- <!-- RGB -->
- <sensor name="rgbd_frame_sensor" type="depth">
- <always_on>true</always_on>
- <update_rate>6.0</update_rate>
- <camera>
- <horizontal_fov>1.01229096616</horizontal_fov>
+ <!-- RGB High res-->
+ <sensor name="rgbd_high_res_frame_sensor" type="camera">
+ <update_rate>30.0</update_rate>
+ <camera name="head">
+ <horizontal_fov>1.0471975512</horizontal_fov>
<image>
+ <width>1280</width>
+ <height>720</height>
<format>R8G8B8</format>
- <width>320</width>
- <height>240</height>
</image>
<clip>
- <near>0.45</near>
- <far>10.0</far>
+ <near>0.05</near>
+ <far>100</far>
</clip>
+ <noise>
+ <type>gaussian</type>
+ <!-- Noise is sampled independently per pixel on each frame.
+ That pixel's noise value is added to each of its color
+ channels, which at that point lie in the range [0,1]. -->
+ <mean>0.0</mean>
+ <stddev>0.007</stddev>
+ </noise>
</camera>
- <plugin filename="libgazebo_ros_openni_kinect.so" name="rgbd_frame_controller">
+ <plugin filename="libgazebo_ros_camera.so" name="rgbd_high_res_frame_controller">
<alwaysOn>true</alwaysOn>
- <updateRate>6.0</updateRate>
- <cameraName>rgbd</cameraName>
- <imageTopicName>rgb/image_raw</imageTopicName>
- <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
- <pointCloudTopicName>rgb/points</pointCloudTopicName>
+ <!-- Patch to publish at 30 Hz -->
+ <updateRate>45.0</updateRate>
+ <cameraName>rgbd/high_res</cameraName>
+ <imageTopicName>/rgbd/rgb/high_res/image_raw</imageTopicName>
+ <cameraInfoTopicName>/rgbd/rgb/high_res/camera_info</cameraInfoTopicName>
<frameName>rgbd_optical_frame</frameName>
- <pointCloudCutoff>0.45</pointCloudCutoff>
- <rangeMax>10.0</rangeMax>
- <distalostionK1>0.00000001</distalostionK1>
- <distalostionK2>0.00000001</distalostionK2>
- <distalostionK3>0.00000001</distalostionK3>
- <distalostionT1>0.00000001</distalostionT1>
- <distalostionT2>0.00000001</distalostionT2>
+ <hackBaseline>0.0</hackBaseline>
+ <distortionK1>0.00000001</distortionK1>
+ <distortionK2>0.00000001</distortionK2>
+ <distortionK3>0.00000001</distortionK3>
+ <distortionT1>0.00000001</distortionT1>
+ <distortionT2>0.00000001</distortionT2>
</plugin>
</sensor>
<material>Gazebo/FlatBlack</material>
@@ -441,24 +427,22 @@
<!-- SHOULDER -->
<!--************************-->
<link name="arm_left_1_link">
- <!-- TODO: Missing reflects of inertias -->
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01346 0.0913 0.04812"/>
- <!-- <mass value="1.52896"/> -->
- <mass value="1.42896"/>
- <inertia ixx="0.00555100000" ixy="-0.00073100000" ixz="0.00000800000" iyy="0.00167300000" iyz="-0.00006000000" izz="0.00582200000"/>
+ <mass value="2.714567"/>
+ <inertia ixx="0.01237818683" ixy="-3.625571e-05" ixz="7.14472e-05" iyy="0.004191372" iyz="-0.00023639064" izz="0.01358161109"/>
+ <origin rpy="0 0 0" xyz="-0.0002762 0.10060223 0.04437419"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_1.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_1.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -467,7 +451,9 @@
<child link="arm_left_1_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00000 0.1575 0.23200"/>
<axis xyz="0 0 1"/>
- <limit effort="44.64" lower="-1.57079632679" upper="0.523598775598" velocity="2.7"/>
+ <!-- v1 TALOS has 1st arm left joint (-90,30) and right joint (-30,90) -->
+ <!-- v2 TALOS has 1st arm left joint (-90,50) and right joint (-50,90) -->
+ <limit effort="100.0" lower="-1.57079632679" upper="0.785398163397" velocity="2.7"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -476,22 +462,21 @@
</joint>
<link name="arm_left_2_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02607 0.00049 -0.05209"/>
- <!-- <mass value="1.77729"/> -->
- <mass value="1.67729"/>
- <inertia ixx="0.00708700000" ixy="-0.00001400000" ixz="0.00214200000" iyy="0.00793600000" iyz="0.00003000000" izz="0.00378800000"/>
+ <mass value="2.425086"/>
+ <inertia ixx="0.01297822101" ixy="1.208791e-05" ixz="-0.00320370433" iyy="0.01380870278" iyz="-0.00012770059" izz="0.00478856621"/>
+ <origin rpy="0 0 0" xyz="0.01438831 0.00092938 -0.08684268"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_2.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_2.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -500,7 +485,7 @@
<child link="arm_left_2_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00493 0.1365 0.04673"/>
<axis xyz="1 0 0"/>
- <limit effort="22.32" lower="0.0" upper="2.87979326579" velocity="3.66"/>
+ <limit effort="100.0" lower="0.00872664625997" upper="2.87106661953" velocity="3.66"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -509,22 +494,21 @@
</joint>
<link name="arm_left_3_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00841 0.01428 -0.22291"/>
- <!-- <mass value="1.57029"/> -->
- <mass value="1.47029"/>
- <inertia ixx="0.00433200000" ixy="0.00015300000" ixz="-0.00049600000" iyy="0.00434000000" iyz="-0.00060900000" izz="0.00254300000"/>
+ <mass value="2.208741"/>
+ <inertia ixx="0.00718831493" ixy="-0.00011563551" ixz="0.00075969733" iyy="0.00693528503" iyz="0.00042134743" izz="0.00388359007"/>
+ <origin rpy="0 0 0" xyz="0.0136084 0.01241619 -0.2499004"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_3.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_3.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -533,7 +517,7 @@
<child link="arm_left_3_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
<axis xyz="0 0 1"/>
- <limit effort="17.86" lower="-2.44346095279" upper="2.44346095279" velocity="4.58"/>
+ <limit effort="70.0" lower="-2.42600766027" upper="2.42600766027" velocity="4.58"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -545,22 +529,21 @@
<!--************************-->
<link name="arm_left_4_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00655 -0.02107 -0.02612"/>
- <!-- <mass value="1.20216"/> -->
- <mass value="1.10216"/>
- <inertia ixx="0.00221700000" ixy="-0.00010100000" ixz="0.00028800000" iyy="0.00241800000" iyz="-0.00039300000" izz="0.00111500000"/>
+ <mass value="0.877346"/>
+ <inertia ixx="0.00251207716" ixy="0.00010070062" ixz="-0.00032788214" iyy="0.00275869324" iyz="0.00040022227" izz="0.00120735959"/>
+ <origin rpy="0 0 0" xyz="-0.00742138 -0.0213895 -0.03312656"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_4.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_4.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -569,7 +552,7 @@
<child link="arm_left_4_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.02000 0.00000 -0.27300"/>
<axis xyz="0 1 0"/>
- <limit effort="17.86" lower="-2.35619449019" upper="0.0" velocity="4.58"/>
+ <limit effort="70.0" lower="-2.23402144255" upper="0.00349065850399" velocity="4.58"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -611,27 +594,23 @@
<!--************************-->
<!-- WRIST -->
<!--************************-->
- <!--************************-->
- <!-- WRIST -->
- <!--************************-->
<link name="arm_left_5_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00006 0.00326 0.07963"/>
- <!-- <mass value="1.87792"/> -->
- <mass value="1.77792"/>
- <inertia ixx="0.00349500000" ixy="-0.00001300000" ixz="-0.00001000000" iyy="0.00436800000" iyz="0.00009700000" izz="0.00228300000"/>
+ <mass value="1.877923"/>
+ <inertia ixx="0.00349507283" ixy="1.265489e-05" ixz="1.038286e-05" iyy="0.00436830072" iyz="-9.736042e-05" izz="0.0022826337"/>
+ <origin rpy="0 0 0" xyz="-6e-05 0.003262 0.079625"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_5.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_5.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -640,7 +619,7 @@
<child link="arm_left_5_link"/>
<origin rpy="0.0 0.0 0.0" xyz="-0.02000 0.00000 -0.26430"/>
<axis xyz="0 0 1"/>
- <limit effort="3" lower="-2.53072741539" upper="2.53072741539" velocity="1.95"/>
+ <limit effort="20.0" lower="-2.51327412287" upper="2.51327412287" velocity="1.95"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -649,22 +628,21 @@
</joint>
<link name="arm_left_6_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00002 -0.00197 -0.00059"/>
- <!-- <mass value="0.40931"/> -->
- <mass value="0.30931"/>
- <inertia ixx="0.00010700000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00014100000" iyz="-0.00000000000" izz="0.00015400000"/>
+ <mass value="0.40931"/>
+ <inertia ixx="0.00010700023" ixy="-8.899e-08" ixz="-4.392e-08" iyy="0.00014101316" iyz="4.1702e-07" izz="0.00015398658"/>
+ <origin rpy="0 0 0" xyz="2.1e-05 -0.001965 -0.000591"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_6.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_6.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -673,7 +651,7 @@
<child link="arm_left_6_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
<axis xyz="1 0 0"/>
- <limit effort="6.6" lower="-1.3962634016" upper="1.3962634016" velocity="1.76"/>
+ <limit effort="8.0" lower="-1.37008346282" upper="1.37008346282" velocity="1.76"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -681,31 +659,22 @@
soft_upper_limit="${80.00000 * deg_to_rad - eps_radians}" /> -->
</joint>
<link name="arm_left_7_link">
- <!-- WRONG VALUES
- <inertial>
- <origin xyz="-0.00089 0.00365 -0.07824" rpy="0.00000 0.00000 0.00000"/>
- <mass value="1.02604"/>
- <inertia ixx="0.00151400000" ixy="0.00000600000" ixz="0.00006600000"
- iyy="0.00146400000" iyz="0.00001200000"
- izz="0.00090300000"/>
- </inertial>
- -->
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.007525 0.001378 -0.024630"/>
<mass value="0.308441"/>
- <inertia ixx="0.000309" ixy="0.000002" ixz="-0.000002" iyy="0.000219" iyz="0.000012" izz="0.000176"/>
+ <inertia ixx="0.00030894317" ixy="-1.58687e-06" ixz="1.73418e-06" iyy="0.00021886181" iyz="-1.221167e-05" izz="0.00017519492"/>
+ <origin rpy="0 0 0" xyz="0.007525 0.001378 -0.02463"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_7.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_7.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_7_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_7_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -714,7 +683,7 @@
<child link="arm_left_7_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<axis xyz="0 1 0"/>
- <limit effort="6.6" lower="-0.698131700798" upper="0.698131700798" velocity="1.76"/>
+ <limit effort="8.0" lower="-0.680678408278" upper="0.680678408278" velocity="1.76"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -744,13 +713,13 @@
<implicitSpringDamper>1</implicitSpringDamper>
<provideFeedback>1</provideFeedback>
</gazebo>
- <!-- extensions -->
<transmission name="arm_left_5_trans">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="arm_left_5_motor">
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
<joint name="arm_left_5_joint">
+ <offset>0.0</offset>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
@@ -780,13 +749,13 @@
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
</transmission>
- <!-- extensions -->
<transmission name="arm_left_1_trans">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="arm_left_1_motor">
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
<joint name="arm_left_1_joint">
+ <offset>0.0</offset>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
@@ -797,6 +766,7 @@
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
<joint name="arm_left_2_joint">
+ <offset>0.0</offset>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
@@ -807,6 +777,7 @@
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
<joint name="arm_left_3_joint">
+ <offset>0.0</offset>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
@@ -817,6 +788,7 @@
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
<joint name="arm_left_4_joint">
+ <offset>0.0</offset>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
@@ -825,24 +797,22 @@
<!-- SHOULDER -->
<!--************************-->
<link name="arm_right_1_link">
- <!-- TODO: Missing reflects of inertias -->
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01346 -0.0913 0.04812"/>
- <!-- <mass value="1.52896"/> -->
- <mass value="1.42896"/>
- <inertia ixx="0.00555100000" ixy="-0.00073100000" ixz="0.00000800000" iyy="0.00167300000" iyz="-0.00006000000" izz="0.00582200000"/>
+ <mass value="2.714567"/>
+ <inertia ixx="0.01237818683" ixy="3.625571e-05" ixz="7.14472e-05" iyy="0.004191372" iyz="0.00023639064" izz="0.01358161109"/>
+ <origin rpy="0 0 0" xyz="-0.0002762 -0.10060223 0.04437419"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_1.STL" scale="1 -1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_1.STL" scale="1 -1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 -1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_1_collision.STL" scale="1 -1 1"/>
</geometry>
</collision>
</link>
@@ -851,7 +821,9 @@
<child link="arm_right_1_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.1575 0.23200"/>
<axis xyz="0 0 1"/>
- <limit effort="44.64" lower="-0.523598775598" upper="1.57079632679" velocity="2.7"/>
+ <!-- v1 TALOS has 1st arm left joint (-90,30) and right joint (-30,90) -->
+ <!-- v2 TALOS has 1st arm left joint (-90,50) and right joint (-50,90) -->
+ <limit effort="100.0" lower="-0.785398163397" upper="1.57079632679" velocity="2.7"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -860,22 +832,21 @@
</joint>
<link name="arm_right_2_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02607 0.00049 -0.05209"/>
- <!-- <mass value="1.77729"/> -->
- <mass value="1.67729"/>
- <inertia ixx="0.00708700000" ixy="-0.00001400000" ixz="0.00214200000" iyy="0.00793600000" iyz="0.00003000000" izz="0.00378800000"/>
+ <mass value="2.425086"/>
+ <inertia ixx="0.01297822101" ixy="-1.208791e-05" ixz="-0.00320370433" iyy="0.01380870278" iyz="0.00012770059" izz="0.00478856621"/>
+ <origin rpy="0 0 0" xyz="0.01438831 -0.00092938 -0.08684268"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_2.STL" scale="1 -1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_2.STL" scale="1 -1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 -1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_2_collision.STL" scale="1 -1 1"/>
</geometry>
</collision>
</link>
@@ -884,7 +855,7 @@
<child link="arm_right_2_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00493 -0.1365 0.04673"/>
<axis xyz="1 0 0"/>
- <limit effort="22.32" lower="-2.87979326579" upper="0.0" velocity="3.66"/>
+ <limit effort="100.0" lower="-2.87106661953" upper="-0.00872664625997" velocity="3.66"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -893,22 +864,21 @@
</joint>
<link name="arm_right_3_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00841 0.01428 -0.22291"/>
- <!-- <mass value="1.57029"/> -->
- <mass value="1.47029"/>
- <inertia ixx="0.00433200000" ixy="0.00015300000" ixz="-0.00049600000" iyy="0.00434000000" iyz="-0.00060900000" izz="0.00254300000"/>
+ <mass value="2.208741"/>
+ <inertia ixx="0.00718831493" ixy="0.00011563551" ixz="0.00075969733" iyy="0.00693528503" iyz="-0.00042134743" izz="0.00388359007"/>
+ <origin rpy="0 0 0" xyz="0.0136084 -0.01241619 -0.2499004"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_3.STL" scale="1 -1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_3.STL" scale="1 -1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 -1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_3_collision.STL" scale="1 -1 1"/>
</geometry>
</collision>
</link>
@@ -917,7 +887,7 @@
<child link="arm_right_3_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
<axis xyz="0 0 1"/>
- <limit effort="17.86" lower="-2.44346095279" upper="2.44346095279" velocity="4.58"/>
+ <limit effort="70.0" lower="-2.42600766027" upper="2.42600766027" velocity="4.58"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -929,22 +899,21 @@
<!--************************-->
<link name="arm_right_4_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00655 -0.02107 -0.02612"/>
- <!-- <mass value="1.20216"/> -->
- <mass value="1.10216"/>
- <inertia ixx="0.00221700000" ixy="-0.00010100000" ixz="0.00028800000" iyy="0.00241800000" iyz="-0.00039300000" izz="0.00111500000"/>
+ <mass value="0.877346"/>
+ <inertia ixx="0.00251207716" ixy="-0.00010070062" ixz="-0.00032788214" iyy="0.00275869324" iyz="-0.00040022227" izz="0.00120735959"/>
+ <origin rpy="0 0 0" xyz="-0.00742138 0.0213895 -0.03312656"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_4.STL" scale="1 -1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_4.STL" scale="1 -1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 -1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_4_collision.STL" scale="1 -1 1"/>
</geometry>
</collision>
</link>
@@ -953,7 +922,7 @@
<child link="arm_right_4_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.02000 0.00000 -0.27300"/>
<axis xyz="0 1 0"/>
- <limit effort="17.86" lower="-2.35619449019" upper="0.0" velocity="4.58"/>
+ <limit effort="70.0" lower="-2.23402144255" upper="0.00349065850399" velocity="4.58"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -995,27 +964,23 @@
<!--************************-->
<!-- WRIST -->
<!--************************-->
- <!--************************-->
- <!-- WRIST -->
- <!--************************-->
<link name="arm_right_5_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00006 0.00326 0.07963"/>
- <!-- <mass value="1.87792"/> -->
- <mass value="1.77792"/>
- <inertia ixx="0.00349500000" ixy="-0.00001300000" ixz="-0.00001000000" iyy="0.00436800000" iyz="0.00009700000" izz="0.00228300000"/>
+ <mass value="1.877923"/>
+ <inertia ixx="0.00349507283" ixy="-1.265489e-05" ixz="1.038286e-05" iyy="0.00436830072" iyz="9.736042e-05" izz="0.0022826337"/>
+ <origin rpy="0 0 0" xyz="-6e-05 -0.003262 0.079625"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_5.STL" scale="1 -1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_5.STL" scale="1 -1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 -1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_5_collision.STL" scale="1 -1 1"/>
</geometry>
</collision>
</link>
@@ -1024,7 +989,7 @@
<child link="arm_right_5_link"/>
<origin rpy="0.0 0.0 0.0" xyz="-0.02000 0.00000 -0.26430"/>
<axis xyz="0 0 1"/>
- <limit effort="3" lower="-2.53072741539" upper="2.53072741539" velocity="1.95"/>
+ <limit effort="20.0" lower="-2.51327412287" upper="2.51327412287" velocity="1.95"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -1033,22 +998,21 @@
</joint>
<link name="arm_right_6_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00002 -0.00197 -0.00059"/>
- <!-- <mass value="0.40931"/> -->
- <mass value="0.30931"/>
- <inertia ixx="0.00010700000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00014100000" iyz="-0.00000000000" izz="0.00015400000"/>
+ <mass value="0.40931"/>
+ <inertia ixx="0.00010700023" ixy="8.899e-08" ixz="-4.392e-08" iyy="0.00014101316" iyz="-4.1702e-07" izz="0.00015398658"/>
+ <origin rpy="0 0 0" xyz="2.1e-05 0.001965 -0.000591"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_6.STL" scale="1 -1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_6.STL" scale="1 -1 1"/>
</geometry>
<material name="LightGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 -1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_6_collision.STL" scale="1 -1 1"/>
</geometry>
</collision>
</link>
@@ -1057,7 +1021,7 @@
<child link="arm_right_6_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
<axis xyz="1 0 0"/>
- <limit effort="6.6" lower="-1.3962634016" upper="1.3962634016" velocity="1.76"/>
+ <limit effort="8.0" lower="-1.37008346282" upper="1.37008346282" velocity="1.76"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -1065,31 +1029,22 @@
soft_upper_limit="${80.00000 * deg_to_rad - eps_radians}" /> -->
</joint>
<link name="arm_right_7_link">
- <!-- WRONG VALUES
- <inertial>
- <origin xyz="-0.00089 0.00365 -0.07824" rpy="0.00000 0.00000 0.00000"/>
- <mass value="1.02604"/>
- <inertia ixx="0.00151400000" ixy="0.00000600000" ixz="0.00006600000"
- iyy="0.00146400000" iyz="0.00001200000"
- izz="0.00090300000"/>
- </inertial>
- -->
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.007525 0.001378 -0.024630"/>
<mass value="0.308441"/>
- <inertia ixx="0.000309" ixy="0.000002" ixz="-0.000002" iyy="0.000219" iyz="0.000012" izz="0.000176"/>
+ <inertia ixx="0.00030894317" ixy="1.58687e-06" ixz="1.73418e-06" iyy="0.00021886181" iyz="1.221167e-05" izz="0.00017519492"/>
+ <origin rpy="0 0 0" xyz="0.007525 -0.001378 -0.02463"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_7.STL" scale="1 -1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_7.STL" scale="1 -1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_7_collision.STL" scale="1 -1 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_7_collision.STL" scale="1 -1 1"/>
</geometry>
</collision>
</link>
@@ -1098,7 +1053,7 @@
<child link="arm_right_7_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
<axis xyz="0 1 0"/>
- <limit effort="6.6" lower="-0.698131700798" upper="0.698131700798" velocity="1.76"/>
+ <limit effort="8.0" lower="-0.680678408278" upper="0.680678408278" velocity="1.76"/>
<dynamics damping="1.0" friction="1.0"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -1128,13 +1083,13 @@
<implicitSpringDamper>1</implicitSpringDamper>
<provideFeedback>1</provideFeedback>
</gazebo>
- <!-- extensions -->
<transmission name="arm_right_5_trans">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="arm_right_5_motor">
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
<joint name="arm_right_5_joint">
+ <offset>0.0</offset>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
@@ -1159,18 +1114,18 @@
<joint name="arm_right_7_joint">
<role>joint2</role>
<offset>0.0</offset>
- <mechanicalReduction>1.0</mechanicalReduction>
+ <mechanicalReduction>-1.0</mechanicalReduction>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
</transmission>
- <!-- extensions -->
<transmission name="arm_right_1_trans">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="arm_right_1_motor">
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
<joint name="arm_right_1_joint">
+ <offset>0.0</offset>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
@@ -1181,6 +1136,7 @@
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
<joint name="arm_right_2_joint">
+ <offset>0.0</offset>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
@@ -1191,6 +1147,7 @@
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
<joint name="arm_right_3_joint">
+ <offset>0.0</offset>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
@@ -1201,6 +1158,7 @@
<mechanicalReduction>1.0</mechanicalReduction>
</actuator>
<joint name="arm_right_4_joint">
+ <offset>0.0</offset>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
@@ -1210,8 +1168,9 @@
<!--************************-->
<link name="wrist_right_ft_link">
<inertial>
- <mass value="0.1"/>
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ <mass value="0.095"/>
+ <inertia ixx="1.108502e-05" ixy="9.9077e-07" ixz="-2.3811e-07" iyy="1.092725e-05" iyz="2.3137e-07" izz="1.898772e-05"/>
+ <origin rpy="0 0 0" xyz="-0.001001 0.000995 -0.008108"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
@@ -1237,8 +1196,9 @@
<!--***********************-->
<link name="wrist_right_ft_tool_link">
<inertial>
- <mass value="0.1"/>
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ <mass value="0.001"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
</inertial>
<visual>
<origin rpy="0 0.0 0" xyz="0.0 0 0"/>
@@ -1264,8 +1224,9 @@
<!--************************-->
<link name="wrist_left_ft_link">
<inertial>
- <mass value="0.1"/>
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ <mass value="0.095"/>
+ <inertia ixx="1.108502e-05" ixy="9.9077e-07" ixz="-2.3811e-07" iyy="1.092725e-05" iyz="2.3137e-07" izz="1.898772e-05"/>
+ <origin rpy="0 0 0" xyz="-0.001001 0.000995 -0.008108"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
@@ -1291,8 +1252,9 @@
<!--***********************-->
<link name="wrist_left_ft_tool_link">
<inertial>
- <mass value="0.1"/>
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ <mass value="0.001"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
</inertial>
<visual>
<origin rpy="0 0.0 0" xyz="0.0 0 0"/>
@@ -1315,21 +1277,21 @@
</joint>
<link name="gripper_left_base_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00534 0.00362 -0.02357"/>
- <mass value="0.61585"/>
- <inertia ixx="0.00047200000" ixy="-0.00000800000" ixz="0.00003500000" iyy="0.00052100000" iyz="0.00000000000" izz="0.00069000000"/>
+ <mass value="0.637534"/>
+ <inertia ixx="0.0005849692" ixy="4.37159e-06" ixz="-1.2589e-05" iyy="0.00067076439" iyz="2.824361e-05" izz="0.00085526645"/>
+ <origin rpy="0 0 0" xyz="2.8e-05 0.005394 -0.023654"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/base_link.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/base_link.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1341,23 +1303,21 @@
</joint>
<link name="gripper_left_motor_double_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02270 0.01781 -0.00977"/>
- <mass value="0.16889"/>
- <!-- In order for Gazebo not to explode we needed to add these 0.001 values to the diagonal,
- also the tool pal_dynamics InertiaMassVisualization gave NaN on the computation of the inertia box -->
- <inertia ixx="0.001159" ixy="-0.00007000000" ixz="0.00003800000" iyy="0.001221" iyz="-0.00005300000" izz="0.001268"/>
+ <mass value="0.134356"/>
+ <inertia ixx="0.00013479919" ixy="6.184429e-05" ixz="-3.0798e-05" iyy="0.00019602207" iyz="4.707722e-05" izz="0.00024217879"/>
+ <origin rpy="0 0 0" xyz="0.019654 0.018572 -0.011998"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1366,26 +1326,26 @@
<child link="gripper_left_motor_double_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.02025 -0.03"/>
<axis xyz="1 0 0"/>
- <limit effort="1.0" lower="-1.0471975512" upper="0.0" velocity="1.0"/>
+ <limit effort="1.0" lower="-0.959931088597" upper="0.0" velocity="1.0"/>
<dynamics damping="1.0" friction="1.0"/>
</joint>
<link name="gripper_left_inner_double_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00056 0.03358 -0.01741"/>
- <mass value="0.11922"/>
- <inertia ixx="0.00009100000" ixy="0.00000100000" ixz="-0.00000100000" iyy="0.00015600000" iyz="-0.00003200000" izz="0.00012600000"/>
+ <mass value="0.087986"/>
+ <inertia ixx="7.410642e-05" ixy="-7.4773e-07" ixz="1.01536e-06" iyy="0.0001279418" iyz="2.504083e-05" izz="0.00010495175"/>
+ <origin rpy="0 0 0" xyz="-0.013283 0.036852 -0.023153"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/inner_double.STL" scale="1 1 1"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1399,21 +1359,21 @@
</joint>
<link name="gripper_left_fingertip_1_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
+ <mass value="0.026301"/>
+ <inertia ixx="8e-06" ixy="0" ixz="0" iyy="8.69179e-06" iyz="-1.43612e-06" izz="2.3082e-06"/>
+ <origin rpy="0 0 0" xyz="0 0.004604 -0.002537"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1427,21 +1387,21 @@
</joint>
<link name="gripper_left_fingertip_2_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
+ <mass value="0.026301"/>
+ <inertia ixx="8e-06" ixy="0" ixz="0" iyy="8.69179e-06" iyz="-1.43612e-06" izz="2.3082e-06"/>
+ <origin rpy="0 0 0" xyz="0 0.004604 -0.002537"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1455,21 +1415,21 @@
</joint>
<link name="gripper_left_motor_single_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02589 -0.01284 -0.00640"/>
- <mass value="0.14765"/>
- <inertia ixx="0.00011500000" ixy="0.00005200000" ixz="0.00002500000" iyy="0.00015300000" iyz="0.00003400000" izz="0.00019000000"/>
+ <mass value="0.107923"/>
+ <inertia ixx="8.973662e-05" ixy="-4.082027e-05" ixz="-1.927099e-05" iyy="0.00011957255" iyz="-2.873284e-05" izz="0.00015469079"/>
+ <origin rpy="0 0 0" xyz="0.025237 -0.011231 -0.008158"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1483,21 +1443,21 @@
</joint>
<link name="gripper_left_inner_single_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.03253 -0.01883"/>
- <mass value="0.05356"/>
- <inertia ixx="0.00004700000" ixy="-0.00000000000" ixz="-0.00000000000" iyy="0.00003500000" iyz="0.00001700000" izz="0.00002400000"/>
+ <mass value="0.047177"/>
+ <inertia ixx="4.199818e-05" ixy="1.3418e-07" ixz="1.9358e-07" iyy="3.231338e-05" iyz="-1.509136e-05" izz="2.168842e-05"/>
+ <origin rpy="0 0 0" xyz="0 -0.034565 -0.021412"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/inner_single.STL" scale="1 1 1"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1511,21 +1471,21 @@
</joint>
<link name="gripper_left_fingertip_3_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
+ <mass value="0.026301"/>
+ <inertia ixx="8e-06" ixy="0" ixz="0" iyy="8.69179e-06" iyz="-1.43612e-06" izz="2.3082e-06"/>
+ <origin rpy="0 0 0" xyz="0 0.004604 -0.002537"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1543,42 +1503,42 @@
<mimicJoint>gripper_left_inner_double_joint</mimicJoint>
<multiplier>1.0</multiplier>
<offset>0.0</offset>
- <!-- <hasPID/> -->
+ <hasPID/>
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_fingertip_1_joint">
<joint>gripper_left_joint</joint>
<mimicJoint>gripper_left_fingertip_1_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
- <!-- <hasPID/> -->
+ <hasPID/>
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_fingertip_2_joint">
<joint>gripper_left_joint</joint>
<mimicJoint>gripper_left_fingertip_2_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
- <!-- <hasPID/> -->
+ <hasPID/>
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_inner_single_joint">
<joint>gripper_left_joint</joint>
<mimicJoint>gripper_left_inner_single_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
- <!-- <hasPID/> -->
+ <hasPID/>
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_motor_single_joint">
<joint>gripper_left_joint</joint>
<mimicJoint>gripper_left_motor_single_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
- <!-- <hasPID/> -->
+ <hasPID/>
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_fingertip_3_joint">
<joint>gripper_left_joint</joint>
<mimicJoint>gripper_left_fingertip_3_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
- <!-- <hasPID/> -->
+ <hasPID/>
</plugin>
</gazebo>
<!-- <plugin filename="libgazebo_underactuated_finger.so" name="gazebo_${name}_underactuated">
@@ -1670,21 +1630,21 @@
<xacro:gripper_virtual_transmission name="${name}_fingertip_3" reduction="1.0"/> -->
<link name="gripper_right_base_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00534 0.00362 -0.02357"/>
- <mass value="0.61585"/>
- <inertia ixx="0.00047200000" ixy="-0.00000800000" ixz="0.00003500000" iyy="0.00052100000" iyz="0.00000000000" izz="0.00069000000"/>
+ <mass value="0.637534"/>
+ <inertia ixx="0.0005849692" ixy="4.37159e-06" ixz="-1.2589e-05" iyy="0.00067076439" iyz="2.824361e-05" izz="0.00085526645"/>
+ <origin rpy="0 0 0" xyz="2.8e-05 0.005394 -0.023654"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/base_link.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/base_link.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1696,23 +1656,21 @@
</joint>
<link name="gripper_right_motor_double_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02270 0.01781 -0.00977"/>
- <mass value="0.16889"/>
- <!-- In order for Gazebo not to explode we needed to add these 0.001 values to the diagonal,
- also the tool pal_dynamics InertiaMassVisualization gave NaN on the computation of the inertia box -->
- <inertia ixx="0.001159" ixy="-0.00007000000" ixz="0.00003800000" iyy="0.001221" iyz="-0.00005300000" izz="0.001268"/>
+ <mass value="0.134356"/>
+ <inertia ixx="0.00013479919" ixy="6.184429e-05" ixz="-3.0798e-05" iyy="0.00019602207" iyz="4.707722e-05" izz="0.00024217879"/>
+ <origin rpy="0 0 0" xyz="0.019654 0.018572 -0.011998"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1721,26 +1679,26 @@
<child link="gripper_right_motor_double_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.02025 -0.03"/>
<axis xyz="1 0 0"/>
- <limit effort="1.0" lower="-1.0471975512" upper="0.0" velocity="1.0"/>
+ <limit effort="1.0" lower="-0.959931088597" upper="0.0" velocity="1.0"/>
<dynamics damping="1.0" friction="1.0"/>
</joint>
<link name="gripper_right_inner_double_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00056 0.03358 -0.01741"/>
- <mass value="0.11922"/>
- <inertia ixx="0.00009100000" ixy="0.00000100000" ixz="-0.00000100000" iyy="0.00015600000" iyz="-0.00003200000" izz="0.00012600000"/>
+ <mass value="0.087986"/>
+ <inertia ixx="7.410642e-05" ixy="-7.4773e-07" ixz="1.01536e-06" iyy="0.0001279418" iyz="2.504083e-05" izz="0.00010495175"/>
+ <origin rpy="0 0 0" xyz="-0.013283 0.036852 -0.023153"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/inner_double.STL" scale="1 1 1"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1754,21 +1712,21 @@
</joint>
<link name="gripper_right_fingertip_1_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
+ <mass value="0.026301"/>
+ <inertia ixx="8e-06" ixy="0" ixz="0" iyy="8.69179e-06" iyz="-1.43612e-06" izz="2.3082e-06"/>
+ <origin rpy="0 0 0" xyz="0 0.004604 -0.002537"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1782,21 +1740,21 @@
</joint>
<link name="gripper_right_fingertip_2_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
+ <mass value="0.026301"/>
+ <inertia ixx="8e-06" ixy="0" ixz="0" iyy="8.69179e-06" iyz="-1.43612e-06" izz="2.3082e-06"/>
+ <origin rpy="0 0 0" xyz="0 0.004604 -0.002537"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1810,21 +1768,21 @@
</joint>
<link name="gripper_right_motor_single_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02589 -0.01284 -0.00640"/>
- <mass value="0.14765"/>
- <inertia ixx="0.00011500000" ixy="0.00005200000" ixz="0.00002500000" iyy="0.00015300000" iyz="0.00003400000" izz="0.00019000000"/>
+ <mass value="0.107923"/>
+ <inertia ixx="8.973662e-05" ixy="-4.082027e-05" ixz="-1.927099e-05" iyy="0.00011957255" iyz="-2.873284e-05" izz="0.00015469079"/>
+ <origin rpy="0 0 0" xyz="0.025237 -0.011231 -0.008158"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1838,21 +1796,21 @@
</joint>
<link name="gripper_right_inner_single_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.03253 -0.01883"/>
- <mass value="0.05356"/>
- <inertia ixx="0.00004700000" ixy="-0.00000000000" ixz="-0.00000000000" iyy="0.00003500000" iyz="0.00001700000" izz="0.00002400000"/>
+ <mass value="0.047177"/>
+ <inertia ixx="4.199818e-05" ixy="1.3418e-07" ixz="1.9358e-07" iyy="3.231338e-05" iyz="-1.509136e-05" izz="2.168842e-05"/>
+ <origin rpy="0 0 0" xyz="0 -0.034565 -0.021412"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/inner_single.STL" scale="1 1 1"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1866,21 +1824,21 @@
</joint>
<link name="gripper_right_fingertip_3_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
+ <mass value="0.026301"/>
+ <inertia ixx="8e-06" ixy="0" ixz="0" iyy="8.69179e-06" iyz="-1.43612e-06" izz="2.3082e-06"/>
+ <origin rpy="0 0 0" xyz="0 0.004604 -0.002537"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -1898,42 +1856,42 @@
<mimicJoint>gripper_right_inner_double_joint</mimicJoint>
<multiplier>1.0</multiplier>
<offset>0.0</offset>
- <!-- <hasPID/> -->
+ <hasPID/>
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_fingertip_1_joint">
<joint>gripper_right_joint</joint>
<mimicJoint>gripper_right_fingertip_1_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
- <!-- <hasPID/> -->
+ <hasPID/>
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_fingertip_2_joint">
<joint>gripper_right_joint</joint>
<mimicJoint>gripper_right_fingertip_2_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
- <!-- <hasPID/> -->
+ <hasPID/>
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_inner_single_joint">
<joint>gripper_right_joint</joint>
<mimicJoint>gripper_right_inner_single_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
- <!-- <hasPID/> -->
+ <hasPID/>
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_motor_single_joint">
<joint>gripper_right_joint</joint>
<mimicJoint>gripper_right_motor_single_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
- <!-- <hasPID/> -->
+ <hasPID/>
</plugin>
<plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_fingertip_3_joint">
<joint>gripper_right_joint</joint>
<mimicJoint>gripper_right_fingertip_3_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
- <!-- <hasPID/> -->
+ <hasPID/>
</plugin>
</gazebo>
<!-- <plugin filename="libgazebo_underactuated_finger.so" name="gazebo_${name}_underactuated">
@@ -2026,21 +1984,21 @@
<!-- Joint hip_z (mesh link) : child link hip_x -> parent link base_link -->
<link name="leg_left_1_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02320 -0.00009 0.04949"/>
- <mass value="1.88569"/>
- <inertia ixx="0.00384800000" ixy="0.00003200000" ixz="-0.00082600000" iyy="0.00599400000" iyz="0.00007800000" izz="0.00322200000"/>
+ <mass value="1.845591"/>
+ <inertia ixx="0.00541533521" ixy="-0.00015428714" ixz="0.00131612622" iyy="0.00848624936" iyz="-1.906103e-05" izz="0.00474512541"/>
+ <origin rpy="0 0 0" xyz="0.02247868 0.00106736 0.03130665"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_z_lo_res.stl" scale="1 1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/hip_z_lo_res.stl" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_z_collision.stl" scale="1 1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/hip_z_collision.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -2055,21 +2013,21 @@
<!-- Joint hip_x (mesh link) : child link hip_y -> parent link hip_z -->
<link name="leg_left_2_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.01583 -0.00021 0.00619"/>
- <mass value="2.37607"/>
- <inertia ixx="0.00342100000" ixy="-0.00011300000" ixz="-0.00022500000" iyy="0.00402400000" iyz="-0.00003100000" izz="0.00416400000"/>
+ <mass value="1.490952"/>
+ <inertia ixx="0.00497152259" ixy="-0.0001311358" ixz="-4.86648e-06" iyy="0.00190550993" iyz="4.585381e-05" izz="0.00474289754"/>
+ <origin rpy="0 0 0" xyz="-0.00704703 0.02592659 0.00273385"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0.0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_x_lo_res.stl" scale="1 1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/hip_x_lo_res.stl" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_x_collision.stl" scale="1 1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/hip_x_collision.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -2084,21 +2042,21 @@
<!-- Joint hip_y (mesh link) : child link knee -> parent link hip_x -->
<link name="leg_left_3_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00658 0.06563 -0.17278"/>
- <mass value="6.82734"/>
- <inertia ixx="0.12390600000" ixy="-0.000412" ixz="-0.00205900000" iyy="0.10844700000" iyz="0.016725" izz="0.02781200000"/>
+ <mass value="6.239871"/>
+ <inertia ixx="0.15337403915" ixy="0.00068913396" ixz="0.00168034366" iyy="0.13648139346" iyz="-0.02187635445" izz="0.03001594885"/>
+ <origin rpy="0 0 0" xyz="0.0058523 0.0636967 -0.18339564"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_y_lo_res.stl" scale="1 1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/hip_y_lo_res.stl" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_y_collision.stl" scale="1 1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/hip_y_collision.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -2113,21 +2071,21 @@
<!-- Joint knee (mesh link) : child link ankle_y -> parent link hip_y -->
<link name="leg_left_4_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.01520 0.02331 -0.12063"/>
- <mass value="3.63668"/>
- <inertia ixx="0.03531500000" ixy="2.9e-05" ixz="-0.00016600000" iyy="0.02933600000" iyz="-0.001305" izz="0.01174000000"/>
+ <mass value="3.759951"/>
+ <inertia ixx="0.04287677484" ixy="0.00043705397" ixz="0.00078292368" iyy="0.03598906971" iyz="0.00037717694" izz="0.01364791564"/>
+ <origin rpy="0 0 0" xyz="0.01317717 0.02917508 -0.11594602"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/knee_lo_res.stl" scale="1 1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/knee_lo_res.stl" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/knee_collision.stl" scale="1 1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/knee_collision.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -2142,21 +2100,21 @@
<!-- Joint ankle_y (mesh link) : child link ankle_x -> parent link knee -->
<link name="leg_left_5_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01106 0.04708 0.05271"/>
- <mass value="1.24433"/>
- <inertia ixx="0.01148700000" ixy="-0.000686" ixz="-0.00052600000" iyy="0.00952600000" iyz="0.002633" izz="0.00390800000"/>
+ <mass value="1.29096"/>
+ <inertia ixx="0.01143430819" ixy="0.00096978273" ixz="0.00039976581" iyy="0.00888974312" iyz="-0.00277808667" izz="0.00506373875"/>
+ <origin rpy="0 0 0" xyz="-0.01400838 0.04180064 0.03820186"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0.0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_Y_lo_res.stl" scale="1 1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/ankle_Y_lo_res.stl" scale="1 1 1"/>
</geometry>
<material name="Grey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_Y_collision.stl" scale="1 1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/ankle_Y_collision.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -2165,32 +2123,23 @@
<child link="leg_left_5_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.32500"/>
<axis xyz="0 1 0"/>
- <limit effort="160" lower="-1.309" upper="0.768" velocity="5.8"/>
+ <limit effort="160" lower="-1.27" upper="0.68" velocity="5.8"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Joint ankle_x (mesh link) : child link None -> parent link ankle_y -->
<link name="leg_left_6_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.02087 -0.00019 -0.06059"/>
- <mass value="1.59457"/>
- <inertia ixx="0.00383800000" ixy="0.00001600000" ixz="-0.00104100000" iyy="0.00657200000" iyz="-0.00001700000" izz="0.00504400000"/>
+ <mass value="1.597773"/>
+ <inertia ixx="0.00439027267" ixy="-6.743674e-05" ixz="0.00113816363" iyy="0.00743063029" iyz="3.943143e-05" izz="0.00550906699"/>
+ <origin rpy="0 0 0" xyz="-0.02034668 -0.00051514 -0.05987428"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_X_lo_res.stl" scale="1 1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/ankle_X_lo_res.stl" scale="1 1 1"/>
</geometry>
<material name="Grey"/>
</visual>
- <!--
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
- </geometry>
- </collision>
-
- -->
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.1"/>
<geometry>
@@ -2209,9 +2158,9 @@
<!-- from here is copy paste -->
<link name="left_sole_link">
<inertial>
- <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="0.01"/>
- <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
+ <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
</inertial>
</link>
<joint name="leg_left_sole_fix_joint" type="fixed">
@@ -2352,21 +2301,21 @@
<!-- Joint hip_z (mesh link) : child link hip_x -> parent link base_link -->
<link name="leg_right_1_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02320 -0.00009 0.04949"/>
- <mass value="1.88569"/>
- <inertia ixx="0.00384800000" ixy="0.00003200000" ixz="-0.00082600000" iyy="0.00599400000" iyz="0.00007800000" izz="0.00322200000"/>
+ <mass value="1.845591"/>
+ <inertia ixx="0.00541533521" ixy="0.00015428714" ixz="0.00131612622" iyy="0.00848624936" iyz="1.906103e-05" izz="0.00474512541"/>
+ <origin rpy="0 0 0" xyz="0.02247868 -0.00106736 0.03130665"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_z_lo_res.stl" scale="1 -1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/hip_z_lo_res.stl" scale="1 -1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_z_collision.stl" scale="1 -1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/hip_z_collision.stl" scale="1 -1 1"/>
</geometry>
</collision>
</link>
@@ -2381,21 +2330,21 @@
<!-- Joint hip_x (mesh link) : child link hip_y -> parent link hip_z -->
<link name="leg_right_2_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.01583 -0.00021 0.00619"/>
- <mass value="2.37607"/>
- <inertia ixx="0.00342100000" ixy="-0.00011300000" ixz="-0.00022500000" iyy="0.00402400000" iyz="-0.00003100000" izz="0.00416400000"/>
+ <mass value="1.490952"/>
+ <inertia ixx="0.00497152259" ixy="0.0001311358" ixz="-4.86648e-06" iyy="0.00190550993" iyz="-4.585381e-05" izz="0.00474289754"/>
+ <origin rpy="0 0 0" xyz="-0.00704703 -0.02592659 0.00273385"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0.0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_x_lo_res.stl" scale="1 -1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/hip_x_lo_res.stl" scale="1 -1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_x_collision.stl" scale="1 -1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/hip_x_collision.stl" scale="1 -1 1"/>
</geometry>
</collision>
</link>
@@ -2410,21 +2359,21 @@
<!-- Joint hip_y (mesh link) : child link knee -> parent link hip_x -->
<link name="leg_right_3_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00658 -0.06563 -0.17278"/>
- <mass value="6.82734"/>
- <inertia ixx="0.12390600000" ixy="0.000412" ixz="-0.00205900000" iyy="0.10844700000" iyz="-0.016725" izz="0.02781200000"/>
+ <mass value="6.239871"/>
+ <inertia ixx="0.15337403915" ixy="-0.00068913396" ixz="0.00168034366" iyy="0.13648139346" iyz="0.02187635445" izz="0.03001594885"/>
+ <origin rpy="0 0 0" xyz="0.0058523 -0.0636967 -0.18339564"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_y_lo_res.stl" scale="1 -1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/hip_y_lo_res.stl" scale="1 -1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_y_collision.stl" scale="1 -1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/hip_y_collision.stl" scale="1 -1 1"/>
</geometry>
</collision>
</link>
@@ -2439,21 +2388,21 @@
<!-- Joint knee (mesh link) : child link ankle_y -> parent link hip_y -->
<link name="leg_right_4_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.01520 -0.02331 -0.12063"/>
- <mass value="3.63668"/>
- <inertia ixx="0.03531500000" ixy="-2.9e-05" ixz="-0.00016600000" iyy="0.02933600000" iyz="0.001305" izz="0.01174000000"/>
+ <mass value="3.759951"/>
+ <inertia ixx="0.04287677484" ixy="-0.00043705397" ixz="0.00078292368" iyy="0.03598906971" iyz="-0.00037717694" izz="0.01364791564"/>
+ <origin rpy="0 0 0" xyz="0.01317717 -0.02917508 -0.11594602"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/knee_lo_res.stl" scale="1 -1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/knee_lo_res.stl" scale="1 -1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/knee_collision.stl" scale="1 -1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/knee_collision.stl" scale="1 -1 1"/>
</geometry>
</collision>
</link>
@@ -2468,21 +2417,21 @@
<!-- Joint ankle_y (mesh link) : child link ankle_x -> parent link knee -->
<link name="leg_right_5_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01106 -0.04708 0.05271"/>
- <mass value="1.24433"/>
- <inertia ixx="0.01148700000" ixy="0.000686" ixz="-0.00052600000" iyy="0.00952600000" iyz="-0.002633" izz="0.00390800000"/>
+ <mass value="1.29096"/>
+ <inertia ixx="0.01143430819" ixy="-0.00096978273" ixz="0.00039976581" iyy="0.00888974312" iyz="0.00277808667" izz="0.00506373875"/>
+ <origin rpy="0 0 0" xyz="-0.01400838 -0.04180064 0.03820186"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0.0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_Y_lo_res.stl" scale="1 -1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/ankle_Y_lo_res.stl" scale="1 -1 1"/>
</geometry>
<material name="Grey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_Y_collision.stl" scale="1 -1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/ankle_Y_collision.stl" scale="1 -1 1"/>
</geometry>
</collision>
</link>
@@ -2491,32 +2440,23 @@
<child link="leg_right_5_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.32500"/>
<axis xyz="0 1 0"/>
- <limit effort="160" lower="-1.309" upper="0.768" velocity="5.8"/>
+ <limit effort="160" lower="-1.27" upper="0.68" velocity="5.8"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<!-- Joint ankle_x (mesh link) : child link None -> parent link ankle_y -->
<link name="leg_right_6_link">
<inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.02087 -0.00019 -0.06059"/>
- <mass value="1.59457"/>
- <inertia ixx="0.00383800000" ixy="0.00001600000" ixz="-0.00104100000" iyy="0.00657200000" iyz="-0.00001700000" izz="0.00504400000"/>
+ <mass value="1.597773"/>
+ <inertia ixx="0.00439027267" ixy="6.743674e-05" ixz="0.00113816363" iyy="0.00743063029" iyz="-3.943143e-05" izz="0.00550906699"/>
+ <origin rpy="0 0 0" xyz="-0.02034668 0.00051514 -0.05987428"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_X_lo_res.stl" scale="1 -1.0 1"/>
+ <mesh filename="package://talos_description/meshes/v2/ankle_X_lo_res.stl" scale="1 -1 1"/>
</geometry>
<material name="Grey"/>
</visual>
- <!--
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
- </geometry>
- </collision>
-
- -->
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.1"/>
<geometry>
@@ -2535,9 +2475,9 @@
<!-- from here is copy paste -->
<link name="right_sole_link">
<inertial>
- <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value="0.01"/>
- <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
+ <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
</inertial>
</link>
<joint name="leg_right_sole_fix_joint" type="fixed">
@@ -2675,7 +2615,6 @@
<gazebo reference="leg_right_6_link">
<material>Gazebo/White</material>
</gazebo>
- <!-- Generic simulatalos_gazebo plugins -->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<ns/>
@@ -2755,7 +2694,6 @@
</gazebo>
<!-- define global properties -->
<!-- <xacro:property name="M_PI" value="3.1415926535897931" /> -->
- <!-- Materials for visualization -->
<material name="Blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
@@ -2781,3 +2719,4 @@
<color rgba="1.0 0.5 0.0 1.0"/>
</material>
</robot>
+
diff --git a/robots/talos_full_v2.urdf.xacro b/robots/talos_full_v2.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..5fb80e495f1753123d0c450788c17de7193e68f1
--- /dev/null
+++ b/robots/talos_full_v2.urdf.xacro
@@ -0,0 +1,55 @@
+<?xml version="1.0"?>
+<!--
+
+ Copyright (c) 2016, PAL Robotics, S.L.
+ All rights reserved.
+
+ This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
+ To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
+ Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
+-->
+<robot name="talos" xmlns:xacro="http://ros.org/wiki/xacro"
+ xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+ xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
+
+ <xacro:if value="$(arg enable_crane)">
+ <xacro:include filename="$(find talos_description)/urdf/crane/crane.urdf.xacro" />
+ </xacro:if>
+
+ <xacro:include filename="$(find talos_description)/urdf/torso/torso.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/head/head.urdf.xacro" />
+ <!--arm_v1 loadded because of the different joint range for 1st DoF-->
+ <xacro:include filename="$(find talos_description)/urdf/arm/arm_v2.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/sensors/ftsensor.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/gripper/gripper.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/leg/leg.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/leg/foot_collision_$(arg foot_collision).urdf.xacro" />
+ <xacro:include filename="$(find talos_description_inertial)/urdf/inertial.xacro" />
+
+ <xacro:talos_torso name="torso" />
+
+ <xacro:if value="$(arg enable_crane)">
+ <xacro:crane parent="torso_2_link"/>
+ </xacro:if>
+
+ <xacro:talos_head name="head" parent="torso_2_link"/>
+
+ <xacro:talos_arm name="arm" parent="torso_2_link" side="left" reflect="1"/>
+ <xacro:talos_arm name="arm" parent="torso_2_link" side="right" reflect="-1"/>
+
+ <xacro:ft_sensor name="wrist" parent="arm_right_7_link" side="right" reflect="1" />
+ <xacro:ft_sensor name="wrist" parent="arm_left_7_link" side="left" reflect="-1" />
+
+ <xacro:talos_gripper name="gripper_left" parent="wrist_left_ft_tool_link" reflect="1" />
+ <xacro:talos_gripper name="gripper_right" parent="wrist_right_ft_tool_link" reflect="-1" />
+
+ <xacro:talos_leg prefix="left" reflect="1" />
+ <xacro:talos_leg prefix="right" reflect="-1" />
+
+ <!-- Generic simulator_gazebo plugins -->
+ <xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
+ <!-- Materials for visualization -->
+ <xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
+
+</robot>
diff --git a/robots/talos_gripper.urdf.xacro b/robots/talos_gripper.urdf.xacro
deleted file mode 100644
index 4245a7da434f25db30f05ed55bc1e071f38b89f9..0000000000000000000000000000000000000000
--- a/robots/talos_gripper.urdf.xacro
+++ /dev/null
@@ -1,29 +0,0 @@
-<?xml version="1.0"?>
-<!--
-
- Copyright (c) 2016, PAL Robotics, S.L.
- All rights reserved.
-
- This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
- To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
- Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
--->
-<robot name="talos" xmlns:xacro="http://ros.org/wiki/xacro"
- xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
- xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
- xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
-
- <xacro:include filename="$(find talos_data)/urdf/gripper/gripper.urdf.xacro" />
-
- <xacro:include filename="$(find talos_data)/urdf/torso/torso.urdf.xacro" />
-
- <xacro:talos_torso name="torso" />
-
- <xacro:talos_gripper name="gripper" parent="torso_2_link"/>
-
- <!-- Generic simulatalos_gazebo plugins -->
- <xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
- <!-- Materials for visualization -->
- <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />
-
-</robot>
diff --git a/robots/talos_head.urdf.xacro b/robots/talos_head.urdf.xacro
deleted file mode 100644
index 10f6e9fed8b7981ffaad1c1642114db3254800bb..0000000000000000000000000000000000000000
--- a/robots/talos_head.urdf.xacro
+++ /dev/null
@@ -1,50 +0,0 @@
-<?xml version="1.0"?>
-<!--
-
- Copyright (c) 2016, PAL Robotics, S.L.
- All rights reserved.
-
- This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
- To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
- Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
--->
-<robot name="talos" xmlns:xacro="http://ros.org/wiki/xacro"
- xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
- xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
- xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
-
- <xacro:include filename="$(find talos_data)/urdf/head/head.urdf.xacro" />
-
- <link name="talos_2_link">
- <inertial>
- <origin xyz="-0.04551 -0.00053 0.16386" rpy="0.00000 0.00000 0.00000"/>
- <mass value="17.55011"/>
- <inertia ixx="0.37376900000" ixy="0.00063900000" ixz="0.01219600000"
- iyy="0.24790200000" iyz="0.00000700000"
- izz="0.28140400000"/>
- </inertial>
-
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://talos_data/meshes/talos/talos_2.STL" scale="1 1 1"/>
- </geometry>
- <material name="LightGrey" />
- </visual>
-
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://talos_data/meshes/talos/talos_2_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
-
- <xacro:talos_head name="head" parent="talos_2_link"/>
-
- <!-- Generic simulatalos_gazebo plugins -->
- <xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
- <!-- Materials for visualization -->
- <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />
-
-</robot>
diff --git a/robots/talos_lower_body.urdf.xacro b/robots/talos_lower_body.urdf.xacro
index b1495b184fa520e03c9d4259764be10f9f9b033e..72264b1bcfedca9442866df082bfdcf12f184b5e 100644
--- a/robots/talos_lower_body.urdf.xacro
+++ b/robots/talos_lower_body.urdf.xacro
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<!--
- Copyright (c) 2014, PAL Robotics, S.L.
+ Copyright (c) 2016, PAL Robotics, S.L.
All rights reserved.
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
@@ -13,7 +13,14 @@
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
- <xacro:include filename="$(find talos_data)/urdf/leg/leg.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/sensors/ftsensor.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/leg/leg.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/leg/foot_collision_$(arg foot_collision).urdf.xacro" />
+ <xacro:include filename="$(find talos_description_inertial)/urdf/inertial.xacro" />
+
+ <!--************************-->
+ <!-- BASE_LINK -->
+ <!--************************-->
<link name="base_link">
<inertial>
<origin xyz="-0.08222 0.00838 -0.07261" rpy="0.00000 0.00000 0.00000"/>
@@ -24,28 +31,28 @@
</inertial>
<visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
+ <origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/talos/base_link.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/torso/base_link.STL" scale="1 1 1"/>
</geometry>
- <material name="DarkGrey" />
+ <material name="LightGrey" />
</visual>
-
+
<collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
+ <origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/talos/base_link_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
</geometry>
- </collision>
+ </collision>
</link>
-
-
- <xacro:talos_leg prefix="left" reflect="1" />
- <xacro:talos_leg prefix="right" reflect="-1" />
- <!-- Generic simulatalos_gazebo plugins -->
- <xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
+
+ <xacro:talos_leg prefix="left" reflect="1" />
+ <xacro:talos_leg prefix="right" reflect="-1" />
+
+ <!-- Generic simulator_gazebo plugins -->
+ <xacro:include filename="$(find talos_description)/gazebo/gazebo.urdf.xacro" />
<!-- Materials for visualization -->
- <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/materials.urdf.xacro" />
</robot>
diff --git a/robots/talos_lower_body_with_torso.urdf.xacro b/robots/talos_lower_body_with_torso.urdf.xacro
deleted file mode 100644
index 1ddaa4cefba6fd7211c52ff64b892d295ee86f27..0000000000000000000000000000000000000000
--- a/robots/talos_lower_body_with_torso.urdf.xacro
+++ /dev/null
@@ -1,35 +0,0 @@
-<?xml version="1.0"?>
-<!--
-
- Copyright (c) 2016, PAL Robotics, S.L.
- All rights reserved.
-
- This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
- To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
- Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
--->
-<robot name="talos" xmlns:xacro="http://ros.org/wiki/xacro"
- xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
- xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
- xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
-
- <xacro:include filename="$(find talos_data)/urdf/torso/torso.urdf.xacro" />
- <xacro:include filename="$(find talos_data)/urdf/head/head.urdf.xacro" />
- <xacro:include filename="$(find talos_data)/urdf/arm/arm.urdf.xacro" />
- <xacro:include filename="$(find talos_data)/urdf/sensors/ftsensor.urdf.xacro" />
- <xacro:include filename="$(find talos_data)/urdf/gripper/gripper.urdf.xacro" />
- <xacro:include filename="$(find talos_data)/urdf/leg/leg.urdf.xacro" />
-
- <xacro:talos_torso name="torso" />
-
- <xacro:talos_head name="head" parent="torso_2_link"/>
-
- <xacro:talos_leg prefix="left" reflect="1" />
- <xacro:talos_leg prefix="right" reflect="-1" />
-
- <!-- Generic simulatalos_gazebo plugins -->
- <xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
- <!-- Materials for visualization -->
- <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />
-
-</robot>
diff --git a/robots/talos_torso.urdf.xacro b/robots/talos_torso.urdf.xacro
deleted file mode 100644
index 3ba7398f1eb8dd373de09f7dfc905f6a1107382e..0000000000000000000000000000000000000000
--- a/robots/talos_torso.urdf.xacro
+++ /dev/null
@@ -1,25 +0,0 @@
-<?xml version="1.0"?>
-<!--
-
- Copyright (c) 2016, PAL Robotics, S.L.
- All rights reserved.
-
- This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
- To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
- Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
--->
-<robot name="talos" xmlns:xacro="http://ros.org/wiki/xacro"
- xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
- xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
- xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
-
- <xacro:include filename="$(find talos_data)/urdf/torso/torso.urdf.xacro" />
-
- <xacro:talos_torso name="torso" />
-
- <!-- Generic simulatalos_gazebo plugins -->
- <xacro:include filename="$(find talos_data)/gazebo/gazebo.urdf.xacro" />
- <!-- Materials for visualization -->
- <xacro:include filename="$(find talos_data)/urdf/materials.urdf.xacro" />
-
-</robot>
diff --git a/robots/upload.launch b/robots/upload.launch
new file mode 100644
index 0000000000000000000000000000000000000000..e95b737f2c83f3708bb563f949b10ab155b36702
--- /dev/null
+++ b/robots/upload.launch
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<launch>
+ <!-- arg could be v1 (Pyerene) or v2 (IJS/PAL) -->
+ <arg name="robot" default="full_v1"/>
+ <arg name="foot_collision" default="default"/> <!-- default / thinbox / tallbox -->
+ <arg name="enable_crane" default="false"/> <!-- crude adhoc approximation of the crane for collision avoidance -->
+ <arg name="parameter_name" default="robot_description"/>
+
+
+ <!-- Robot description -->
+ <param
+ name="$(arg parameter_name)"
+ command=" $(find xacro)/xacro.py --inorder
+
+ '$(find talos_description)/robots/talos_$(arg robot).urdf.xacro'
+ foot_collision:=$(arg foot_collision)
+ enable_crane:=$(arg enable_crane)"
+ />
+</launch>
diff --git a/robots/upload_arm.launch b/robots/upload_arm.launch
deleted file mode 100644
index 739a8e8cf3e61b27a49ff09bb33f1cb6ac8b73d1..0000000000000000000000000000000000000000
--- a/robots/upload_arm.launch
+++ /dev/null
@@ -1,6 +0,0 @@
-<launch>
-
- <!-- Robot description -->
- <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_data)/robots/talos_arm.urdf.xacro'" />
-
-</launch>
diff --git a/robots/upload_gripper.launch b/robots/upload_gripper.launch
deleted file mode 100644
index 9cb8705ff8192f7c7ae6ca4856d6bf38b8813f8a..0000000000000000000000000000000000000000
--- a/robots/upload_gripper.launch
+++ /dev/null
@@ -1,6 +0,0 @@
-<launch>
-
- <!-- Robot description -->
- <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_data)/robots/talos_gripper.urdf.xacro'" />
-
-</launch>
diff --git a/robots/upload_head.launch b/robots/upload_head.launch
deleted file mode 100644
index 1e6fcabab05c5c15e27f47d8fbff65d223ca5432..0000000000000000000000000000000000000000
--- a/robots/upload_head.launch
+++ /dev/null
@@ -1,6 +0,0 @@
-<launch>
-
- <!-- Robot description -->
- <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_data)/robots/talos_head.urdf.xacro'" />
-
-</launch>
diff --git a/robots/upload_legs.launch b/robots/upload_legs.launch
deleted file mode 100644
index e335ea4454b3686a4f33c6ad0c519e1988780a3b..0000000000000000000000000000000000000000
--- a/robots/upload_legs.launch
+++ /dev/null
@@ -1,6 +0,0 @@
-<launch>
-
- <!-- Robot description -->
- <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_data)/robots/talos_lower_body.urdf.xacro'" />
-
-</launch>
diff --git a/robots/upload_talos.launch b/robots/upload_talos.launch
index e13341b1a889ff9a34725f4d9320004605bf885f..6afd767a971d002f307cc13720194432086b1d1b 100644
--- a/robots/upload_talos.launch
+++ b/robots/upload_talos.launch
@@ -1,8 +1,11 @@
-<launch>
-
- <arg name="robot" default="full"/>
-
- <!-- Robot description -->
- <param name="robot_description" command="$(find xacro)/xacro.py '$(find talos_data)/robots/talos_$(arg robot).urdf.xacro'" />
+<launch deprecated="Please use 'upload.lauch' instead.">
+ <arg name="robot" default="full_v1"/>
+ <arg name="foot_collision" default="default"/>
+ <arg name="enable_crane" default="false"/>
+ <include file="$(find talos_description)/robots/upload.launch">
+ <arg name="robot" value="$(arg robot)"/>
+ <arg name="foot_collision" value="$(arg foot_collision)"/>
+ <arg name="enable_crane" value="$(arg enable_crane)"/>
+ </include>
</launch>
diff --git a/srdf/talos.srdf b/srdf/talos.srdf
deleted file mode 100644
index 5ec30cbcc5c4e551c2a38458c95a2672d903792a..0000000000000000000000000000000000000000
--- a/srdf/talos.srdf
+++ /dev/null
@@ -1,662 +0,0 @@
-<?xml version="1.0" ?>
-<!--This does not replace URDF, and is not an extension of URDF.
- This is a format for representing semantic information about the robot structure.
- A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
--->
-<robot name="talos">
- <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
- <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
- <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
- <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
- <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
- <group name="r_arm">
- <joint name="arm_right_1_joint" />
- <joint name="arm_right_2_joint" />
- <joint name="arm_right_3_joint" />
- <joint name="arm_right_4_joint" />
- <joint name="arm_right_5_joint" />
- <joint name="arm_right_6_joint" />
- <joint name="arm_right_7_joint" />
- <joint name="wrist_right_ft_joint" />
- <joint name="wrist_right_tool_joint" />
- <chain base_link="torso_2_link" tip_link="wrist_right_ft_tool_link" />
- </group>
-<!-- <group name="gripper_right">
- <link name="gripper_right_base_link" />
- <link name="gripper_right_inner_double_link" />
- <link name="gripper_right_fingertip_1_link" />
- <link name="gripper_right_fingertip_2_link" />
- <link name="gripper_right_inner_single_link" />
- <link name="gripper_right_fingertip_3_link" />
- <link name="gripper_right_motor_double_link" />
- <link name="gripper_right_motor_single_link" />
- <joint name="gripper_right_joint" />
- <chain base_link="wrist_right_ft_tool_link" tip_link="gripper_right_base_link" />
- </group>
- <group name="gripper_left">
- <link name="gripper_left_base_link" />
- <link name="gripper_left_inner_double_link" />
- <link name="gripper_left_fingertip_1_link" />
- <link name="gripper_left_fingertip_2_link" />
- <link name="gripper_left_inner_single_link" />
- <link name="gripper_left_fingertip_3_link" />
- <link name="gripper_left_motor_double_link" />
- <link name="gripper_left_motor_single_link" />
- <joint name="gripper_left_joint" />
- <chain base_link="wrist_left_ft_tool_link" tip_link="gripper_left_base_link" />
- </group>
--->
- <group name="l_arm">
- <joint name="arm_left_1_joint" />
- <joint name="arm_left_2_joint" />
- <joint name="arm_left_3_joint" />
- <joint name="arm_left_4_joint" />
- <joint name="arm_left_5_joint" />
- <joint name="arm_left_6_joint" />
- <joint name="arm_left_7_joint" />
- <joint name="wrist_left_ft_joint" />
- <joint name="wrist_left_tool_joint" />
- <chain base_link="torso_2_link" tip_link="wrist_left_ft_tool_link" />
- </group>
- <group name="torso">
- <joint name="torso_1_joint" />
- <joint name="torso_2_joint" />
- <chain base_link="base_link" tip_link="torso_2_link" />
- </group>
- <group name="both_arms_torso">
- <group name="left_arm" />
- <group name="right_arm" />
- <group name="torso" />
- </group>
- <group name="right_arm_torso">
- <group name="right_arm" />
- <group name="torso" />
- </group>
- <group name="left_arm_torso">
- <group name="left_arm" />
- <group name="torso" />
- </group>
- <group name="r_leg">
- <joint name="leg_right_1_joint" />
- <joint name="leg_right_2_joint" />
- <joint name="leg_right_3_joint" />
- <joint name="leg_right_4_joint" />
- <joint name="leg_right_5_joint" />
- <joint name="leg_right_6_joint" />
- <joint name="leg_right_sole_fix_joint" />
- <chain base_link="base_link" tip_link="right_sole_link" />
- </group>
- <group name="l_leg">
- <joint name="leg_left_1_joint" />
- <joint name="leg_left_2_joint" />
- <joint name="leg_left_3_joint" />
- <joint name="leg_left_4_joint" />
- <joint name="leg_left_5_joint" />
- <joint name="leg_left_6_joint" />
- <joint name="leg_left_sole_fix_joint" />
- <chain base_link="base_link" tip_link="left_sole_link" />
- </group>
- <group name="head">
- <joint name="head_1_joint" />
- <joint name="head_2_joint" />
- </group>
- <group name="all">
- <group name="l_arm" />
- <group name="r_arm" />
- <group name="l_leg" />
- <group name="r_leg" />
- <group name="head" />
- <group name="torso" />
- </group>
-
- <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
- <end_effector name="right_eef" parent_link="wrist_right_ft_tool_link" group="gripper_right" parent_group="right_arm" />
- <end_effector name="left_eef" parent_link="wrist_left_ft_tool_link" group="gripper_left" parent_group="left_arm" />
- <!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
- <passive_joint name="gripper_left_motor_single_joint" />
- <passive_joint name="gripper_left_inner_double_joint" />
- <passive_joint name="gripper_left_fingertip_1_joint" />
- <passive_joint name="gripper_left_fingertip_2_joint" />
- <passive_joint name="gripper_left_inner_single_joint" />
- <passive_joint name="gripper_left_fingertip_3_joint" />
- <passive_joint name="gripper_right_inner_double_joint" />
- <passive_joint name="gripper_right_fingertip_1_joint" />
- <passive_joint name="gripper_right_fingertip_2_joint" />
- <passive_joint name="gripper_right_inner_single_joint" />
- <passive_joint name="gripper_right_fingertip_3_joint" />
- <passive_joint name="gripper_right_motor_single_joint" />
- <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
-
- <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
- <group_state name="half_sitting" group="all">
- <joint name="arm_left_1_joint" value="0.25847" />
- <joint name="arm_left_2_joint" value="0.173046" />
- <joint name="arm_left_3_joint" value="-0.0002" />
- <joint name="arm_left_4_joint" value="-0.525366" />
- <joint name="arm_left_5_joint" value="0" />
- <joint name="arm_left_6_joint" value="0" />
- <joint name="arm_left_7_joint" value="0.1" />
- <joint name="arm_right_1_joint" value="-0.25847" />
- <joint name="arm_right_2_joint" value="-0.173046" />
- <joint name="arm_right_3_joint" value="0.0002" />
- <joint name="arm_right_4_joint" value="-0.525366" />
- <joint name="arm_right_5_joint" value="0" />
- <joint name="arm_right_6_joint" value="0" />
- <joint name="arm_right_7_joint" value="0.1" />
- <joint name="head_1_joint" value="0" />
- <joint name="head_2_joint" value="0" />
- <joint name="leg_left_1_joint" value="0.0" />
- <joint name="leg_left_2_joint" value="0.0" />
- <joint name="leg_left_3_joint" value="-0.411354" />
- <joint name="leg_left_4_joint" value="0.859395" />
- <joint name="leg_left_5_joint" value="-0.448041" />
- <joint name="leg_left_6_joint" value="-0.001708" />
- <joint name="leg_right_1_joint" value="0.0" />
- <joint name="leg_right_2_joint" value="0.0" />
- <joint name="leg_right_3_joint" value="-0.411354" />
- <joint name="leg_right_4_joint" value="0.859395" />
- <joint name="leg_right_5_joint" value="-0.448041" />
- <joint name="leg_right_6_joint" value="-0.001708" />
- <joint name="torso_1_joint" value="0" />
- <joint name="torso_2_joint" value="0.006761" />
- </group_state>
-
- <!--
- Talos Specificities.
- foot height = y axis
- foot width = x axis
- foot depth = z axis
- -->
- <specificities>
- <feet>
- <right>
- <size height="0.122" width="0.205" depth="0.107" />
- <anklePosition x="0.0" y="0.0" z="0.107" />
- </right>
- <left>
- <size height="0.122" width="0.205" depth="0.107" />
- <anklePosition x="0.0" y="0.0" z="0.107" />
- </left>
- </feet>
- </specificities>
-
- <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links.
-
-TALOS disabled collisions generated by Moveit! using the moveit_setup_assistant. Kindly see http://docs.ros.org/hydro/api/moveit_setup_assistant/html/doc/tutorial.html for details. -->
-
-
- <disable_collisions link1="arm_left_1_link" link2="arm_left_2_link" reason="Adjacent" />
- <disable_collisions link1="arm_left_1_link" link2="arm_left_3_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="arm_left_4_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="arm_left_5_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="arm_left_6_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="arm_right_1_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="arm_right_2_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="arm_right_3_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="arm_right_4_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="arm_right_5_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="arm_right_6_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="base_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="head_1_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="head_2_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="imu_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="leg_left_1_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="leg_left_2_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="leg_left_3_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="leg_left_4_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="leg_left_5_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="leg_left_6_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="leg_right_1_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="leg_right_2_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="leg_right_3_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="leg_right_4_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="leg_right_5_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="leg_right_6_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="rgbd_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="torso_2_link" reason="Adjacent" />
- <disable_collisions link1="arm_left_1_link" link2="wrist_left_ft_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="wrist_left_ft_tool_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="wrist_right_ft_link" reason="Never" />
- <disable_collisions link1="arm_left_1_link" link2="wrist_right_ft_tool_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="arm_left_3_link" reason="Adjacent" />
- <disable_collisions link1="arm_left_2_link" link2="arm_left_4_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="arm_left_5_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="arm_left_6_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="arm_left_7_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="arm_right_1_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="arm_right_2_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="arm_right_3_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="arm_right_4_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="base_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="head_1_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="imu_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="leg_left_1_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="leg_left_2_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="leg_left_3_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="leg_left_5_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="leg_left_6_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="leg_right_1_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="leg_right_2_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="leg_right_3_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="leg_right_5_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="wrist_left_ft_link" reason="Never" />
- <disable_collisions link1="arm_left_2_link" link2="wrist_left_ft_tool_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="arm_left_4_link" reason="Adjacent" />
- <disable_collisions link1="arm_left_3_link" link2="arm_left_6_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="arm_left_7_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="arm_right_1_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="arm_right_2_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="arm_right_3_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="arm_right_4_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="gripper_left_base_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="gripper_left_fingertip_1_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="gripper_left_fingertip_2_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="gripper_left_fingertip_3_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="gripper_left_inner_double_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="gripper_left_inner_single_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="gripper_left_motor_double_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="gripper_left_motor_single_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="head_1_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="imu_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="leg_left_1_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="leg_left_2_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="leg_right_1_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="leg_right_2_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="wrist_left_ft_link" reason="Never" />
- <disable_collisions link1="arm_left_3_link" link2="wrist_left_ft_tool_link" reason="Never" />
- <disable_collisions link1="arm_left_4_link" link2="arm_left_5_link" reason="Adjacent" />
- <disable_collisions link1="arm_left_4_link" link2="arm_left_6_link" reason="Never" />
- <disable_collisions link1="arm_left_4_link" link2="arm_left_7_link" reason="Never" />
- <disable_collisions link1="arm_left_4_link" link2="arm_right_1_link" reason="Never" />
- <disable_collisions link1="arm_left_4_link" link2="arm_right_2_link" reason="Never" />
- <disable_collisions link1="arm_left_4_link" link2="arm_right_3_link" reason="Never" />
- <disable_collisions link1="arm_left_4_link" link2="arm_right_4_link" reason="Never" />
- <disable_collisions link1="arm_left_4_link" link2="gripper_left_base_link" reason="Never" />
- <disable_collisions link1="arm_left_4_link" link2="gripper_left_fingertip_1_link" reason="Never" />
- <disable_collisions link1="arm_left_4_link" link2="gripper_left_fingertip_2_link" reason="Never" />
- <disable_collisions link1="arm_left_4_link" link2="gripper_left_fingertip_3_link" reason="Never" />
- <disable_collisions link1="arm_left_4_link" link2="gripper_left_inner_double_link" reason="Never" />
- <disable_collisions link1="arm_left_4_link" link2="gripper_left_inner_single_link" reason="Never" />
- <disable_collisions link1="arm_left_4_link" link2="gripper_left_motor_double_link" reason="Never" />
- <disable_collisions link1="arm_left_4_link" link2="gripper_left_motor_single_link" reason="Never" />
- <disable_collisions link1="arm_left_4_link" link2="head_1_link" reason="Never" />
- <disable_collisions link1="arm_left_4_link" link2="imu_link" reason="Never" />
- <disable_collisions link1="arm_left_4_link" link2="leg_left_2_link" reason="Never" />
- <disable_collisions link1="arm_left_4_link" link2="leg_right_1_link" reason="Never" />
- <disable_collisions link1="arm_left_4_link" link2="leg_right_2_link" reason="Never" />
- <disable_collisions link1="arm_left_4_link" link2="wrist_left_ft_link" reason="Never" />
- <disable_collisions link1="arm_left_4_link" link2="wrist_left_ft_tool_link" reason="Never" />
- <disable_collisions link1="arm_left_5_link" link2="arm_left_6_link" reason="Adjacent" />
- <disable_collisions link1="arm_left_5_link" link2="arm_left_7_link" reason="Default" />
- <disable_collisions link1="arm_left_5_link" link2="arm_right_1_link" reason="Never" />
- <disable_collisions link1="arm_left_5_link" link2="gripper_left_base_link" reason="Never" />
- <disable_collisions link1="arm_left_5_link" link2="gripper_left_fingertip_1_link" reason="Never" />
- <disable_collisions link1="arm_left_5_link" link2="gripper_left_fingertip_2_link" reason="Never" />
- <disable_collisions link1="arm_left_5_link" link2="gripper_left_fingertip_3_link" reason="Never" />
- <disable_collisions link1="arm_left_5_link" link2="gripper_left_inner_double_link" reason="Never" />
- <disable_collisions link1="arm_left_5_link" link2="gripper_left_inner_single_link" reason="Never" />
- <disable_collisions link1="arm_left_5_link" link2="gripper_left_motor_double_link" reason="Never" />
- <disable_collisions link1="arm_left_5_link" link2="gripper_left_motor_single_link" reason="Never" />
- <disable_collisions link1="arm_left_5_link" link2="wrist_left_ft_link" reason="Never" />
- <disable_collisions link1="arm_left_5_link" link2="wrist_left_ft_tool_link" reason="Never" />
- <disable_collisions link1="arm_left_6_link" link2="arm_left_7_link" reason="Adjacent" />
- <disable_collisions link1="arm_left_6_link" link2="arm_right_1_link" reason="Never" />
- <disable_collisions link1="arm_left_6_link" link2="gripper_left_base_link" reason="Never" />
- <disable_collisions link1="arm_left_6_link" link2="gripper_left_fingertip_1_link" reason="Never" />
- <disable_collisions link1="arm_left_6_link" link2="gripper_left_fingertip_2_link" reason="Never" />
- <disable_collisions link1="arm_left_6_link" link2="gripper_left_fingertip_3_link" reason="Never" />
- <disable_collisions link1="arm_left_6_link" link2="gripper_left_inner_double_link" reason="Never" />
- <disable_collisions link1="arm_left_6_link" link2="gripper_left_inner_single_link" reason="Never" />
- <disable_collisions link1="arm_left_6_link" link2="gripper_left_motor_double_link" reason="Never" />
- <disable_collisions link1="arm_left_6_link" link2="gripper_left_motor_single_link" reason="Never" />
- <disable_collisions link1="arm_left_6_link" link2="wrist_left_ft_link" reason="Never" />
- <disable_collisions link1="arm_left_6_link" link2="wrist_left_ft_tool_link" reason="Never" />
- <disable_collisions link1="arm_left_7_link" link2="gripper_left_base_link" reason="Default" />
- <disable_collisions link1="arm_left_7_link" link2="gripper_left_fingertip_1_link" reason="Never" />
- <disable_collisions link1="arm_left_7_link" link2="gripper_left_fingertip_2_link" reason="Never" />
- <disable_collisions link1="arm_left_7_link" link2="gripper_left_fingertip_3_link" reason="Never" />
- <disable_collisions link1="arm_left_7_link" link2="gripper_left_inner_double_link" reason="Never" />
- <disable_collisions link1="arm_left_7_link" link2="gripper_left_inner_single_link" reason="Never" />
- <disable_collisions link1="arm_left_7_link" link2="gripper_left_motor_double_link" reason="Never" />
- <disable_collisions link1="arm_left_7_link" link2="gripper_left_motor_single_link" reason="Never" />
- <disable_collisions link1="arm_left_7_link" link2="wrist_left_ft_link" reason="Adjacent" />
- <disable_collisions link1="arm_left_7_link" link2="wrist_left_ft_tool_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="arm_right_2_link" reason="Adjacent" />
- <disable_collisions link1="arm_right_1_link" link2="arm_right_3_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="arm_right_4_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="arm_right_5_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="arm_right_6_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="base_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="head_1_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="head_2_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="imu_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="leg_left_1_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="leg_left_2_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="leg_left_3_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="leg_left_4_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="leg_left_5_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="leg_left_6_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="leg_right_1_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="leg_right_2_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="leg_right_3_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="leg_right_4_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="leg_right_5_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="leg_right_6_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="rgbd_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="torso_2_link" reason="Adjacent" />
- <disable_collisions link1="arm_right_1_link" link2="wrist_left_ft_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="wrist_left_ft_tool_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="wrist_right_ft_link" reason="Never" />
- <disable_collisions link1="arm_right_1_link" link2="wrist_right_ft_tool_link" reason="Never" />
- <disable_collisions link1="arm_right_2_link" link2="arm_right_3_link" reason="Adjacent" />
- <disable_collisions link1="arm_right_2_link" link2="arm_right_4_link" reason="Never" />
- <disable_collisions link1="arm_right_2_link" link2="arm_right_5_link" reason="Never" />
- <disable_collisions link1="arm_right_2_link" link2="arm_right_6_link" reason="Never" />
- <disable_collisions link1="arm_right_2_link" link2="arm_right_7_link" reason="Never" />
- <disable_collisions link1="arm_right_2_link" link2="base_link" reason="Never" />
- <disable_collisions link1="arm_right_2_link" link2="head_1_link" reason="Never" />
- <disable_collisions link1="arm_right_2_link" link2="imu_link" reason="Never" />
- <disable_collisions link1="arm_right_2_link" link2="leg_left_1_link" reason="Never" />
- <disable_collisions link1="arm_right_2_link" link2="leg_left_2_link" reason="Never" />
- <disable_collisions link1="arm_right_2_link" link2="leg_left_3_link" reason="Never" />
- <disable_collisions link1="arm_right_2_link" link2="leg_left_5_link" reason="Never" />
- <disable_collisions link1="arm_right_2_link" link2="leg_right_1_link" reason="Never" />
- <disable_collisions link1="arm_right_2_link" link2="leg_right_2_link" reason="Never" />
- <disable_collisions link1="arm_right_2_link" link2="leg_right_3_link" reason="Never" />
- <disable_collisions link1="arm_right_2_link" link2="leg_right_5_link" reason="Never" />
- <disable_collisions link1="arm_right_2_link" link2="leg_right_6_link" reason="Never" />
- <disable_collisions link1="arm_right_2_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="arm_right_2_link" link2="wrist_right_ft_link" reason="Never" />
- <disable_collisions link1="arm_right_2_link" link2="wrist_right_ft_tool_link" reason="Never" />
- <disable_collisions link1="arm_right_3_link" link2="arm_right_4_link" reason="Adjacent" />
- <disable_collisions link1="arm_right_3_link" link2="arm_right_6_link" reason="Never" />
- <disable_collisions link1="arm_right_3_link" link2="arm_right_7_link" reason="Never" />
- <disable_collisions link1="arm_right_3_link" link2="gripper_right_base_link" reason="Never" />
- <disable_collisions link1="arm_right_3_link" link2="gripper_right_fingertip_1_link" reason="Never" />
- <disable_collisions link1="arm_right_3_link" link2="gripper_right_fingertip_2_link" reason="Never" />
- <disable_collisions link1="arm_right_3_link" link2="gripper_right_fingertip_3_link" reason="Never" />
- <disable_collisions link1="arm_right_3_link" link2="gripper_right_inner_double_link" reason="Never" />
- <disable_collisions link1="arm_right_3_link" link2="gripper_right_inner_single_link" reason="Never" />
- <disable_collisions link1="arm_right_3_link" link2="gripper_right_motor_double_link" reason="Never" />
- <disable_collisions link1="arm_right_3_link" link2="gripper_right_motor_single_link" reason="Never" />
- <disable_collisions link1="arm_right_3_link" link2="head_1_link" reason="Never" />
- <disable_collisions link1="arm_right_3_link" link2="imu_link" reason="Never" />
- <disable_collisions link1="arm_right_3_link" link2="leg_left_1_link" reason="Never" />
- <disable_collisions link1="arm_right_3_link" link2="leg_left_2_link" reason="Never" />
- <disable_collisions link1="arm_right_3_link" link2="leg_right_1_link" reason="Never" />
- <disable_collisions link1="arm_right_3_link" link2="leg_right_2_link" reason="Never" />
- <disable_collisions link1="arm_right_3_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="arm_right_3_link" link2="wrist_right_ft_link" reason="Never" />
- <disable_collisions link1="arm_right_3_link" link2="wrist_right_ft_tool_link" reason="Never" />
- <disable_collisions link1="arm_right_4_link" link2="arm_right_5_link" reason="Adjacent" />
- <disable_collisions link1="arm_right_4_link" link2="arm_right_6_link" reason="Never" />
- <disable_collisions link1="arm_right_4_link" link2="arm_right_7_link" reason="Never" />
- <disable_collisions link1="arm_right_4_link" link2="gripper_right_base_link" reason="Never" />
- <disable_collisions link1="arm_right_4_link" link2="gripper_right_fingertip_1_link" reason="Never" />
- <disable_collisions link1="arm_right_4_link" link2="gripper_right_fingertip_2_link" reason="Never" />
- <disable_collisions link1="arm_right_4_link" link2="gripper_right_fingertip_3_link" reason="Never" />
- <disable_collisions link1="arm_right_4_link" link2="gripper_right_inner_double_link" reason="Never" />
- <disable_collisions link1="arm_right_4_link" link2="gripper_right_inner_single_link" reason="Never" />
- <disable_collisions link1="arm_right_4_link" link2="gripper_right_motor_double_link" reason="Never" />
- <disable_collisions link1="arm_right_4_link" link2="gripper_right_motor_single_link" reason="Never" />
- <disable_collisions link1="arm_right_4_link" link2="head_1_link" reason="Never" />
- <disable_collisions link1="arm_right_4_link" link2="imu_link" reason="Never" />
- <disable_collisions link1="arm_right_4_link" link2="leg_left_1_link" reason="Never" />
- <disable_collisions link1="arm_right_4_link" link2="leg_left_2_link" reason="Never" />
- <disable_collisions link1="arm_right_4_link" link2="leg_right_2_link" reason="Never" />
- <disable_collisions link1="arm_right_4_link" link2="wrist_right_ft_link" reason="Never" />
- <disable_collisions link1="arm_right_4_link" link2="wrist_right_ft_tool_link" reason="Never" />
- <disable_collisions link1="arm_right_5_link" link2="arm_right_6_link" reason="Adjacent" />
- <disable_collisions link1="arm_right_5_link" link2="arm_right_7_link" reason="Default" />
- <disable_collisions link1="arm_right_5_link" link2="gripper_right_base_link" reason="Never" />
- <disable_collisions link1="arm_right_5_link" link2="gripper_right_fingertip_1_link" reason="Never" />
- <disable_collisions link1="arm_right_5_link" link2="gripper_right_fingertip_2_link" reason="Never" />
- <disable_collisions link1="arm_right_5_link" link2="gripper_right_fingertip_3_link" reason="Never" />
- <disable_collisions link1="arm_right_5_link" link2="gripper_right_inner_double_link" reason="Never" />
- <disable_collisions link1="arm_right_5_link" link2="gripper_right_inner_single_link" reason="Never" />
- <disable_collisions link1="arm_right_5_link" link2="gripper_right_motor_double_link" reason="Never" />
- <disable_collisions link1="arm_right_5_link" link2="gripper_right_motor_single_link" reason="Never" />
- <disable_collisions link1="arm_right_5_link" link2="wrist_right_ft_link" reason="Never" />
- <disable_collisions link1="arm_right_5_link" link2="wrist_right_ft_tool_link" reason="Never" />
- <disable_collisions link1="arm_right_6_link" link2="arm_right_7_link" reason="Adjacent" />
- <disable_collisions link1="arm_right_6_link" link2="gripper_right_base_link" reason="Never" />
- <disable_collisions link1="arm_right_6_link" link2="gripper_right_fingertip_1_link" reason="Never" />
- <disable_collisions link1="arm_right_6_link" link2="gripper_right_fingertip_2_link" reason="Never" />
- <disable_collisions link1="arm_right_6_link" link2="gripper_right_fingertip_3_link" reason="Never" />
- <disable_collisions link1="arm_right_6_link" link2="gripper_right_inner_double_link" reason="Never" />
- <disable_collisions link1="arm_right_6_link" link2="gripper_right_inner_single_link" reason="Never" />
- <disable_collisions link1="arm_right_6_link" link2="gripper_right_motor_double_link" reason="Never" />
- <disable_collisions link1="arm_right_6_link" link2="gripper_right_motor_single_link" reason="Never" />
- <disable_collisions link1="arm_right_6_link" link2="wrist_right_ft_link" reason="Never" />
- <disable_collisions link1="arm_right_6_link" link2="wrist_right_ft_tool_link" reason="Never" />
- <disable_collisions link1="arm_right_7_link" link2="gripper_right_base_link" reason="Default" />
- <disable_collisions link1="arm_right_7_link" link2="gripper_right_fingertip_1_link" reason="Never" />
- <disable_collisions link1="arm_right_7_link" link2="gripper_right_fingertip_2_link" reason="Never" />
- <disable_collisions link1="arm_right_7_link" link2="gripper_right_fingertip_3_link" reason="Never" />
- <disable_collisions link1="arm_right_7_link" link2="gripper_right_inner_double_link" reason="Never" />
- <disable_collisions link1="arm_right_7_link" link2="gripper_right_inner_single_link" reason="Never" />
- <disable_collisions link1="arm_right_7_link" link2="gripper_right_motor_double_link" reason="Never" />
- <disable_collisions link1="arm_right_7_link" link2="gripper_right_motor_single_link" reason="Never" />
- <disable_collisions link1="arm_right_7_link" link2="wrist_right_ft_link" reason="Adjacent" />
- <disable_collisions link1="arm_right_7_link" link2="wrist_right_ft_tool_link" reason="Never" />
- <disable_collisions link1="base_link" link2="head_1_link" reason="Never" />
- <disable_collisions link1="base_link" link2="head_2_link" reason="Never" />
- <disable_collisions link1="base_link" link2="imu_link" reason="Never" />
- <disable_collisions link1="base_link" link2="leg_left_1_link" reason="Adjacent" />
- <disable_collisions link1="base_link" link2="leg_left_2_link" reason="Default" />
- <disable_collisions link1="base_link" link2="leg_right_1_link" reason="Adjacent" />
- <disable_collisions link1="base_link" link2="leg_right_2_link" reason="Default" />
- <disable_collisions link1="base_link" link2="rgbd_link" reason="Never" />
- <disable_collisions link1="base_link" link2="torso_1_link" reason="Adjacent" />
- <disable_collisions link1="base_link" link2="torso_2_link" reason="Default" />
- <disable_collisions link1="gripper_left_base_link" link2="gripper_left_fingertip_1_link" reason="Never" />
- <disable_collisions link1="gripper_left_base_link" link2="gripper_left_fingertip_2_link" reason="Never" />
- <disable_collisions link1="gripper_left_base_link" link2="gripper_left_fingertip_3_link" reason="Never" />
- <disable_collisions link1="gripper_left_base_link" link2="gripper_left_inner_double_link" reason="Adjacent" />
- <disable_collisions link1="gripper_left_base_link" link2="gripper_left_inner_single_link" reason="Adjacent" />
- <disable_collisions link1="gripper_left_base_link" link2="gripper_left_motor_double_link" reason="Adjacent" />
- <disable_collisions link1="gripper_left_base_link" link2="gripper_left_motor_single_link" reason="Adjacent" />
- <disable_collisions link1="gripper_left_base_link" link2="wrist_left_ft_link" reason="Never" />
- <disable_collisions link1="gripper_left_base_link" link2="wrist_left_ft_tool_link" reason="Adjacent" />
- <disable_collisions link1="gripper_left_fingertip_1_link" link2="gripper_left_fingertip_2_link" reason="Never" />
- <disable_collisions link1="gripper_left_fingertip_1_link" link2="gripper_left_fingertip_3_link" reason="Never" />
- <disable_collisions link1="gripper_left_fingertip_1_link" link2="gripper_left_inner_double_link" reason="Adjacent" />
- <disable_collisions link1="gripper_left_fingertip_1_link" link2="gripper_left_inner_single_link" reason="Never" />
- <disable_collisions link1="gripper_left_fingertip_1_link" link2="gripper_left_motor_double_link" reason="Default" />
- <disable_collisions link1="gripper_left_fingertip_1_link" link2="gripper_left_motor_single_link" reason="Never" />
- <disable_collisions link1="gripper_left_fingertip_1_link" link2="wrist_left_ft_link" reason="Never" />
- <disable_collisions link1="gripper_left_fingertip_1_link" link2="wrist_left_ft_tool_link" reason="Never" />
- <disable_collisions link1="gripper_left_fingertip_2_link" link2="gripper_left_fingertip_3_link" reason="Never" />
- <disable_collisions link1="gripper_left_fingertip_2_link" link2="gripper_left_inner_double_link" reason="Adjacent" />
- <disable_collisions link1="gripper_left_fingertip_2_link" link2="gripper_left_inner_single_link" reason="Never" />
- <disable_collisions link1="gripper_left_fingertip_2_link" link2="gripper_left_motor_double_link" reason="Default" />
- <disable_collisions link1="gripper_left_fingertip_2_link" link2="gripper_left_motor_single_link" reason="Never" />
- <disable_collisions link1="gripper_left_fingertip_2_link" link2="wrist_left_ft_link" reason="Never" />
- <disable_collisions link1="gripper_left_fingertip_2_link" link2="wrist_left_ft_tool_link" reason="Never" />
- <disable_collisions link1="gripper_left_fingertip_3_link" link2="gripper_left_inner_single_link" reason="Adjacent" />
- <disable_collisions link1="gripper_left_fingertip_3_link" link2="gripper_left_motor_single_link" reason="Default" />
- <disable_collisions link1="gripper_left_fingertip_3_link" link2="wrist_left_ft_link" reason="Never" />
- <disable_collisions link1="gripper_left_fingertip_3_link" link2="wrist_left_ft_tool_link" reason="Never" />
- <disable_collisions link1="gripper_left_inner_double_link" link2="gripper_left_motor_double_link" reason="Default" />
- <disable_collisions link1="gripper_left_inner_double_link" link2="wrist_left_ft_link" reason="Never" />
- <disable_collisions link1="gripper_left_inner_double_link" link2="wrist_left_ft_tool_link" reason="Never" />
- <disable_collisions link1="gripper_left_inner_single_link" link2="gripper_left_motor_single_link" reason="Default" />
- <disable_collisions link1="gripper_left_inner_single_link" link2="wrist_left_ft_link" reason="Never" />
- <disable_collisions link1="gripper_left_inner_single_link" link2="wrist_left_ft_tool_link" reason="Never" />
- <disable_collisions link1="gripper_left_motor_double_link" link2="gripper_left_motor_single_link" reason="Default" />
- <disable_collisions link1="gripper_left_motor_double_link" link2="wrist_left_ft_link" reason="Never" />
- <disable_collisions link1="gripper_left_motor_double_link" link2="wrist_left_ft_tool_link" reason="Never" />
- <disable_collisions link1="gripper_left_motor_single_link" link2="wrist_left_ft_link" reason="Never" />
- <disable_collisions link1="gripper_left_motor_single_link" link2="wrist_left_ft_tool_link" reason="Never" />
- <disable_collisions link1="gripper_right_base_link" link2="gripper_right_fingertip_1_link" reason="Never" />
- <disable_collisions link1="gripper_right_base_link" link2="gripper_right_fingertip_2_link" reason="Never" />
- <disable_collisions link1="gripper_right_base_link" link2="gripper_right_fingertip_3_link" reason="Never" />
- <disable_collisions link1="gripper_right_base_link" link2="gripper_right_inner_double_link" reason="Adjacent" />
- <disable_collisions link1="gripper_right_base_link" link2="gripper_right_inner_single_link" reason="Adjacent" />
- <disable_collisions link1="gripper_right_base_link" link2="gripper_right_motor_double_link" reason="Adjacent" />
- <disable_collisions link1="gripper_right_base_link" link2="gripper_right_motor_single_link" reason="Adjacent" />
- <disable_collisions link1="gripper_right_base_link" link2="wrist_right_ft_link" reason="Never" />
- <disable_collisions link1="gripper_right_base_link" link2="wrist_right_ft_tool_link" reason="Adjacent" />
- <disable_collisions link1="gripper_right_fingertip_1_link" link2="gripper_right_fingertip_2_link" reason="Never" />
- <disable_collisions link1="gripper_right_fingertip_1_link" link2="gripper_right_fingertip_3_link" reason="Never" />
- <disable_collisions link1="gripper_right_fingertip_1_link" link2="gripper_right_inner_double_link" reason="Adjacent" />
- <disable_collisions link1="gripper_right_fingertip_1_link" link2="gripper_right_inner_single_link" reason="Never" />
- <disable_collisions link1="gripper_right_fingertip_1_link" link2="gripper_right_motor_double_link" reason="Default" />
- <disable_collisions link1="gripper_right_fingertip_1_link" link2="gripper_right_motor_single_link" reason="Never" />
- <disable_collisions link1="gripper_right_fingertip_1_link" link2="wrist_right_ft_link" reason="Never" />
- <disable_collisions link1="gripper_right_fingertip_1_link" link2="wrist_right_ft_tool_link" reason="Never" />
- <disable_collisions link1="gripper_right_fingertip_2_link" link2="gripper_right_fingertip_3_link" reason="Never" />
- <disable_collisions link1="gripper_right_fingertip_2_link" link2="gripper_right_inner_double_link" reason="Adjacent" />
- <disable_collisions link1="gripper_right_fingertip_2_link" link2="gripper_right_inner_single_link" reason="Never" />
- <disable_collisions link1="gripper_right_fingertip_2_link" link2="gripper_right_motor_double_link" reason="Default" />
- <disable_collisions link1="gripper_right_fingertip_2_link" link2="gripper_right_motor_single_link" reason="Never" />
- <disable_collisions link1="gripper_right_fingertip_2_link" link2="wrist_right_ft_link" reason="Never" />
- <disable_collisions link1="gripper_right_fingertip_2_link" link2="wrist_right_ft_tool_link" reason="Never" />
- <disable_collisions link1="gripper_right_fingertip_3_link" link2="gripper_right_inner_single_link" reason="Adjacent" />
- <disable_collisions link1="gripper_right_fingertip_3_link" link2="gripper_right_motor_single_link" reason="Default" />
- <disable_collisions link1="gripper_right_fingertip_3_link" link2="wrist_right_ft_link" reason="Never" />
- <disable_collisions link1="gripper_right_fingertip_3_link" link2="wrist_right_ft_tool_link" reason="Never" />
- <disable_collisions link1="gripper_right_inner_double_link" link2="gripper_right_motor_double_link" reason="Default" />
- <disable_collisions link1="gripper_right_inner_double_link" link2="wrist_right_ft_link" reason="Never" />
- <disable_collisions link1="gripper_right_inner_double_link" link2="wrist_right_ft_tool_link" reason="Never" />
- <disable_collisions link1="gripper_right_inner_single_link" link2="gripper_right_motor_single_link" reason="Default" />
- <disable_collisions link1="gripper_right_inner_single_link" link2="wrist_right_ft_link" reason="Never" />
- <disable_collisions link1="gripper_right_inner_single_link" link2="wrist_right_ft_tool_link" reason="Never" />
- <disable_collisions link1="gripper_right_motor_double_link" link2="gripper_right_motor_single_link" reason="Default" />
- <disable_collisions link1="gripper_right_motor_double_link" link2="wrist_right_ft_link" reason="Never" />
- <disable_collisions link1="gripper_right_motor_double_link" link2="wrist_right_ft_tool_link" reason="Never" />
- <disable_collisions link1="gripper_right_motor_single_link" link2="wrist_right_ft_link" reason="Never" />
- <disable_collisions link1="gripper_right_motor_single_link" link2="wrist_right_ft_tool_link" reason="Never" />
- <disable_collisions link1="head_1_link" link2="head_2_link" reason="Adjacent" />
- <disable_collisions link1="head_1_link" link2="imu_link" reason="Never" />
- <disable_collisions link1="head_1_link" link2="leg_left_1_link" reason="Never" />
- <disable_collisions link1="head_1_link" link2="leg_left_2_link" reason="Never" />
- <disable_collisions link1="head_1_link" link2="leg_left_3_link" reason="Never" />
- <disable_collisions link1="head_1_link" link2="leg_left_4_link" reason="Never" />
- <disable_collisions link1="head_1_link" link2="leg_left_5_link" reason="Never" />
- <disable_collisions link1="head_1_link" link2="leg_left_6_link" reason="Never" />
- <disable_collisions link1="head_1_link" link2="leg_right_1_link" reason="Never" />
- <disable_collisions link1="head_1_link" link2="leg_right_2_link" reason="Never" />
- <disable_collisions link1="head_1_link" link2="leg_right_3_link" reason="Never" />
- <disable_collisions link1="head_1_link" link2="leg_right_4_link" reason="Never" />
- <disable_collisions link1="head_1_link" link2="leg_right_5_link" reason="Never" />
- <disable_collisions link1="head_1_link" link2="leg_right_6_link" reason="Never" />
- <disable_collisions link1="head_1_link" link2="rgbd_link" reason="Never" />
- <disable_collisions link1="head_1_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="head_1_link" link2="torso_2_link" reason="Adjacent" />
- <disable_collisions link1="head_2_link" link2="imu_link" reason="Never" />
- <disable_collisions link1="head_2_link" link2="leg_left_1_link" reason="Never" />
- <disable_collisions link1="head_2_link" link2="leg_left_2_link" reason="Never" />
- <disable_collisions link1="head_2_link" link2="leg_left_3_link" reason="Never" />
- <disable_collisions link1="head_2_link" link2="leg_left_4_link" reason="Never" />
- <disable_collisions link1="head_2_link" link2="leg_left_5_link" reason="Never" />
- <disable_collisions link1="head_2_link" link2="leg_left_6_link" reason="Never" />
- <disable_collisions link1="head_2_link" link2="leg_right_1_link" reason="Never" />
- <disable_collisions link1="head_2_link" link2="leg_right_2_link" reason="Never" />
- <disable_collisions link1="head_2_link" link2="leg_right_3_link" reason="Never" />
- <disable_collisions link1="head_2_link" link2="leg_right_4_link" reason="Never" />
- <disable_collisions link1="head_2_link" link2="leg_right_5_link" reason="Never" />
- <disable_collisions link1="head_2_link" link2="leg_right_6_link" reason="Never" />
- <disable_collisions link1="head_2_link" link2="rgbd_link" reason="Adjacent" />
- <disable_collisions link1="head_2_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="head_2_link" link2="torso_2_link" reason="Never" />
- <disable_collisions link1="imu_link" link2="leg_left_1_link" reason="Never" />
- <disable_collisions link1="imu_link" link2="leg_left_2_link" reason="Never" />
- <disable_collisions link1="imu_link" link2="leg_left_3_link" reason="Never" />
- <disable_collisions link1="imu_link" link2="leg_left_4_link" reason="Never" />
- <disable_collisions link1="imu_link" link2="leg_left_5_link" reason="Never" />
- <disable_collisions link1="imu_link" link2="leg_left_6_link" reason="Never" />
- <disable_collisions link1="imu_link" link2="leg_right_1_link" reason="Never" />
- <disable_collisions link1="imu_link" link2="leg_right_2_link" reason="Never" />
- <disable_collisions link1="imu_link" link2="leg_right_3_link" reason="Never" />
- <disable_collisions link1="imu_link" link2="leg_right_4_link" reason="Never" />
- <disable_collisions link1="imu_link" link2="leg_right_5_link" reason="Never" />
- <disable_collisions link1="imu_link" link2="leg_right_6_link" reason="Never" />
- <disable_collisions link1="imu_link" link2="rgbd_link" reason="Never" />
- <disable_collisions link1="imu_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="imu_link" link2="torso_2_link" reason="Adjacent" />
- <disable_collisions link1="leg_left_1_link" link2="leg_left_2_link" reason="Adjacent" />
- <disable_collisions link1="leg_left_1_link" link2="leg_left_3_link" reason="Default" />
- <disable_collisions link1="leg_left_1_link" link2="leg_left_4_link" reason="Never" />
- <disable_collisions link1="leg_left_1_link" link2="leg_left_5_link" reason="Never" />
- <disable_collisions link1="leg_left_1_link" link2="rgbd_link" reason="Never" />
- <disable_collisions link1="leg_left_1_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="leg_left_1_link" link2="torso_2_link" reason="Never" />
- <disable_collisions link1="leg_left_2_link" link2="leg_left_3_link" reason="Adjacent" />
- <disable_collisions link1="leg_left_2_link" link2="leg_left_4_link" reason="Never" />
- <disable_collisions link1="leg_left_2_link" link2="leg_left_5_link" reason="Never" />
- <disable_collisions link1="leg_left_2_link" link2="rgbd_link" reason="Never" />
- <disable_collisions link1="leg_left_2_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="leg_left_2_link" link2="torso_2_link" reason="Never" />
- <disable_collisions link1="leg_left_3_link" link2="leg_left_4_link" reason="Adjacent" />
- <disable_collisions link1="leg_left_3_link" link2="leg_left_5_link" reason="Never" />
- <disable_collisions link1="leg_left_3_link" link2="rgbd_link" reason="Never" />
- <disable_collisions link1="leg_left_3_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="leg_left_3_link" link2="torso_2_link" reason="Never" />
- <disable_collisions link1="leg_left_4_link" link2="leg_left_5_link" reason="Adjacent" />
- <disable_collisions link1="leg_left_4_link" link2="leg_left_6_link" reason="Never" />
- <disable_collisions link1="leg_left_4_link" link2="rgbd_link" reason="Never" />
- <disable_collisions link1="leg_left_4_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="leg_left_4_link" link2="torso_2_link" reason="Never" />
- <disable_collisions link1="leg_left_5_link" link2="leg_left_6_link" reason="Adjacent" />
- <disable_collisions link1="leg_left_5_link" link2="rgbd_link" reason="Never" />
- <disable_collisions link1="leg_left_5_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="leg_left_5_link" link2="torso_2_link" reason="Never" />
- <disable_collisions link1="leg_left_6_link" link2="rgbd_link" reason="Never" />
- <disable_collisions link1="leg_left_6_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="leg_left_6_link" link2="torso_2_link" reason="Never" />
- <disable_collisions link1="leg_right_1_link" link2="leg_right_2_link" reason="Adjacent" />
- <disable_collisions link1="leg_right_1_link" link2="leg_right_3_link" reason="Default" />
- <disable_collisions link1="leg_right_1_link" link2="leg_right_4_link" reason="Never" />
- <disable_collisions link1="leg_right_1_link" link2="leg_right_5_link" reason="Never" />
- <disable_collisions link1="leg_right_1_link" link2="rgbd_link" reason="Never" />
- <disable_collisions link1="leg_right_1_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="leg_right_1_link" link2="torso_2_link" reason="Never" />
- <disable_collisions link1="leg_right_2_link" link2="leg_right_3_link" reason="Adjacent" />
- <disable_collisions link1="leg_right_2_link" link2="leg_right_4_link" reason="Never" />
- <disable_collisions link1="leg_right_2_link" link2="leg_right_5_link" reason="Never" />
- <disable_collisions link1="leg_right_2_link" link2="rgbd_link" reason="Never" />
- <disable_collisions link1="leg_right_2_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="leg_right_2_link" link2="torso_2_link" reason="Never" />
- <disable_collisions link1="leg_right_3_link" link2="leg_right_4_link" reason="Adjacent" />
- <disable_collisions link1="leg_right_3_link" link2="leg_right_5_link" reason="Never" />
- <disable_collisions link1="leg_right_3_link" link2="rgbd_link" reason="Never" />
- <disable_collisions link1="leg_right_3_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="leg_right_3_link" link2="torso_2_link" reason="Never" />
- <disable_collisions link1="leg_right_4_link" link2="leg_right_5_link" reason="Adjacent" />
- <disable_collisions link1="leg_right_4_link" link2="leg_right_6_link" reason="Never" />
- <disable_collisions link1="leg_right_4_link" link2="rgbd_link" reason="Never" />
- <disable_collisions link1="leg_right_4_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="leg_right_4_link" link2="torso_2_link" reason="Never" />
- <disable_collisions link1="leg_right_5_link" link2="leg_right_6_link" reason="Adjacent" />
- <disable_collisions link1="leg_right_5_link" link2="rgbd_link" reason="Never" />
- <disable_collisions link1="leg_right_5_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="leg_right_5_link" link2="torso_2_link" reason="Never" />
- <disable_collisions link1="leg_right_6_link" link2="rgbd_link" reason="Never" />
- <disable_collisions link1="leg_right_6_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="leg_right_6_link" link2="torso_2_link" reason="Never" />
- <disable_collisions link1="rgbd_link" link2="torso_1_link" reason="Never" />
- <disable_collisions link1="rgbd_link" link2="torso_2_link" reason="Never" />
- <disable_collisions link1="torso_1_link" link2="torso_2_link" reason="Adjacent" />
- <disable_collisions link1="wrist_left_ft_link" link2="wrist_left_ft_tool_link" reason="Adjacent" />
- <disable_collisions link1="wrist_right_ft_link" link2="wrist_right_ft_tool_link" reason="Adjacent" />
-
-
- <gripper name="left_gripper" clearance="0.03">
- <position> 0 0 -0.13 0.707106 0 0.707106 0</position>
- <link name="gripper_left_base_link" />
- <joint name="gripper_left_joint" />
- <torque_constant value="48e-3" unit="N.m/A"/>
- </gripper>
-
- <gripper name="right_gripper" clearance="0.03">
- <position> 0 0 -0.13 0 -0.707106 0 0.707106 </position>
- <link name="gripper_right_base_link" />
- <joint name="gripper_right_joint" />
- <torque_constant value="48e-3" unit="N.m/A"/>
- </gripper>
-</robot>
diff --git a/urdf/arm/arm.transmission.xacro b/urdf/arm/arm.transmission.xacro
index 494281c1de288134ea6df3e926249cea1ad01d90..bcc15043d92a3c0ccc788733353844a643685b5f 100644
--- a/urdf/arm/arm.transmission.xacro
+++ b/urdf/arm/arm.transmission.xacro
@@ -10,13 +10,14 @@
-->
<robot xmlns:xacro="http://ros.org/wiki/xacro">
- <xacro:macro name="talos_arm_simple_transmission" params="name side number reduction" >
+ <xacro:macro name="talos_arm_simple_transmission" params="name side number reduction offset_value" >
<transmission name="${name}_${side}_${number}_trans">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="${name}_${side}_${number}_motor" >
<mechanicalReduction>${reduction}</mechanicalReduction>
</actuator>
<joint name="${name}_${side}_${number}_joint">
+ <offset>${offset_value}</offset>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
diff --git a/urdf/arm/arm.urdf.xacro b/urdf/arm/arm_v1.urdf.xacro
similarity index 78%
rename from urdf/arm/arm.urdf.xacro
rename to urdf/arm/arm_v1.urdf.xacro
index e80b6b8da7e1123ad23e5f22c8bdc989097a94b2..3512ca6261d465b99b96954dbc9b24c9c87a4e76 100644
--- a/urdf/arm/arm.urdf.xacro
+++ b/urdf/arm/arm_v1.urdf.xacro
@@ -11,9 +11,9 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes-->
- <xacro:include filename="$(find talos_data)/urdf/deg_to_rad.xacro" />
- <xacro:include filename="$(find talos_data)/urdf/arm/wrist.urdf.xacro" />
- <xacro:include filename="$(find talos_data)/urdf/arm/arm.transmission.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/deg_to_rad.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/arm/wrist.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/arm/arm.transmission.xacro" />
<!--Constant parameters-->
<xacro:property name="arm_friction" value="1.0" />
@@ -22,10 +22,10 @@
<xacro:property name="arm_2_max_vel" value="3.66" />
<xacro:property name="arm_3_max_vel" value="4.58" />
<xacro:property name="arm_4_max_vel" value="4.58" />
- <xacro:property name="arm_1_max_effort" value="44.64" />
- <xacro:property name="arm_2_max_effort" value="22.32" />
- <xacro:property name="arm_3_max_effort" value="17.86" />
- <xacro:property name="arm_4_max_effort" value="17.86" />
+ <xacro:property name="arm_1_max_effort" value="100.0" />
+ <xacro:property name="arm_2_max_effort" value="100.0" />
+ <xacro:property name="arm_3_max_effort" value="70.0" />
+ <xacro:property name="arm_4_max_effort" value="70.0" />
<xacro:property name="arm_eps" value="0.02" />
@@ -35,7 +35,6 @@
<!-- SHOULDER -->
<!--************************-->
<link name="${name}_${side}_1_link">
- <!-- TODO: Missing reflects of inertias -->
<inertial>
<origin xyz="-0.01346 ${reflect*0.09130} 0.04812" rpy="0.00000 0.00000 0.00000"/>
<!-- <mass value="1.52896"/> -->
@@ -48,14 +47,14 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_1.STL" scale="1 ${reflect} 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_1.STL" scale="1 ${reflect} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 ${reflect} 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_1_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</link>
@@ -63,7 +62,7 @@
<joint name="${name}_${side}_1_joint" type="revolute">
<parent link="${parent}" />
<child link="${name}_${side}_1_link" />
- <origin xyz="0.00000 ${0.15750*reflect} 0.23200"
+ <origin xyz="0.00000 ${0.15750*reflect} 0.23200"
rpy="${0.0 * deg_to_rad} ${0.0 * deg_to_rad} ${0.0 * deg_to_rad}"/>
<axis xyz="0 0 1" />
<limit lower="${(-60.0 - 30.0*reflect)* deg_to_rad}" upper="${(60.0 - 30.0*reflect)* deg_to_rad}" effort="${arm_1_max_effort}" velocity="${arm_1_max_vel}" />
@@ -87,14 +86,14 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_2.STL" scale="1 ${reflect} 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_2.STL" scale="1 ${reflect} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 ${reflect} 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_2_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</link>
@@ -102,10 +101,10 @@
<joint name="${name}_${side}_2_joint" type="revolute">
<parent link="${name}_${side}_1_link" />
<child link="${name}_${side}_2_link" />
- <origin xyz="0.00493 ${0.13650*reflect} 0.04673"
+ <origin xyz="0.00493 ${0.13650*reflect} 0.04673"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="1 0 0" />
- <limit lower="${(-82.50000 + 82.5*reflect)* deg_to_rad}" upper="${(82.50000 + 82.5000*reflect)* deg_to_rad}" effort="${arm_2_max_effort}" velocity="${arm_2_max_vel}" />
+ <limit lower="${(-82.0000 + 82.5000*reflect)* deg_to_rad}" upper="${(82.50000 + 82.0000*reflect)* deg_to_rad}" effort="${arm_2_max_effort}" velocity="${arm_2_max_vel}" />
<dynamics friction="${arm_friction}" damping="${arm_damping}"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -127,14 +126,14 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_3.STL" scale="1 ${reflect} 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_3.STL" scale="1 ${reflect} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 ${reflect} 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_3_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</link>
@@ -142,10 +141,10 @@
<joint name="${name}_${side}_3_joint" type="revolute">
<parent link="${name}_${side}_2_link" />
<child link="${name}_${side}_3_link" />
- <origin xyz="0.00000 0.00000 0.00000"
+ <origin xyz="0.00000 0.00000 0.00000"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="0 0 1" />
- <limit lower="${-140.0 * deg_to_rad}" upper="${140.0 * deg_to_rad}" effort="${arm_3_max_effort}" velocity="${arm_3_max_vel}" />
+ <limit lower="${-139.0 * deg_to_rad}" upper="${139.0 * deg_to_rad}" effort="${arm_3_max_effort}" velocity="${arm_3_max_vel}" />
<dynamics friction="${arm_friction}" damping="${arm_damping}"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -170,14 +169,14 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_4.STL" scale="1 ${reflect} 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_4.STL" scale="1 ${reflect} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 ${reflect} 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_4_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</link>
@@ -185,10 +184,10 @@
<joint name="${name}_${side}_4_joint" type="revolute">
<parent link="${name}_${side}_3_link" />
<child link="${name}_${side}_4_link" />
- <origin xyz="0.02000 0.00000 -0.27300"
+ <origin xyz="0.02000 0.00000 -0.27300"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="0 1 0" />
- <limit lower="${-135.0 * deg_to_rad}" upper="${0.0 * deg_to_rad}" effort="${arm_4_max_effort}" velocity="${arm_4_max_vel}" />
+ <limit lower="${-128.0 * deg_to_rad}" upper="${0.2 * deg_to_rad}" effort="${arm_4_max_effort}" velocity="${arm_4_max_vel}" />
<dynamics friction="${arm_friction}" damping="${arm_damping}"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -237,10 +236,7 @@
<xacro:talos_wrist name="arm" parent="${name}_${side}_4_link" side="${side}" reflect="${reflect}" />
<!-- extensions -->
- <xacro:talos_arm_simple_transmission name="${name}" side="${side}" number="1" reduction="1.0" />
- <xacro:talos_arm_simple_transmission name="${name}" side="${side}" number="2" reduction="1.0" />
- <xacro:talos_arm_simple_transmission name="${name}" side="${side}" number="3" reduction="1.0" />
- <xacro:talos_arm_simple_transmission name="${name}" side="${side}" number="4" reduction="1.0" />
+ <xacro:include filename="$(find talos_description)/urdf/arm/${side}_arm.transmissions.urdf.xacro" />
</xacro:macro>
diff --git a/urdf/arm/arm_v2.urdf.xacro b/urdf/arm/arm_v2.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..a3bfaf7ae8f15dd06c6288132c3d2c68e3fc0427
--- /dev/null
+++ b/urdf/arm/arm_v2.urdf.xacro
@@ -0,0 +1,224 @@
+<?xml version="1.0"?>
+<!--
+
+ Copyright (c) 2016, PAL Robotics, S.L.
+ All rights reserved.
+
+ This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
+ To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
+ Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
+-->
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+ <!--File includes-->
+ <xacro:include filename="$(find talos_description)/urdf/deg_to_rad.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/arm/wrist.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/arm/arm.transmission.xacro" />
+
+ <!--Constant parameters-->
+ <xacro:property name="arm_friction" value="1.0" />
+ <xacro:property name="arm_damping" value="1.0" />
+ <xacro:property name="arm_1_max_vel" value="2.7" />
+ <xacro:property name="arm_2_max_vel" value="3.66" />
+ <xacro:property name="arm_3_max_vel" value="4.58" />
+ <xacro:property name="arm_4_max_vel" value="4.58" />
+ <xacro:property name="arm_1_max_effort" value="100.0" />
+ <xacro:property name="arm_2_max_effort" value="100.0" />
+ <xacro:property name="arm_3_max_effort" value="70.0" />
+ <xacro:property name="arm_4_max_effort" value="70.0" />
+ <xacro:property name="arm_eps" value="0.02" />
+
+
+ <xacro:macro name="talos_arm" params="name parent side reflect">
+
+ <!--************************-->
+ <!-- SHOULDER -->
+ <!--************************-->
+ <link name="${name}_${side}_1_link">
+ <xacro:call macro="${name}_${side}_1_link_inertial" />
+
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/arm/arm_1.STL" scale="1 ${reflect} 1"/>
+ </geometry>
+ <material name="DarkGrey" />
+ </visual>
+
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/arm/arm_1_collision.STL" scale="1 ${reflect} 1"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="${name}_${side}_1_joint" type="revolute">
+ <parent link="${parent}" />
+ <child link="${name}_${side}_1_link" />
+ <origin xyz="0.00000 ${0.15750*reflect} 0.23200"
+ rpy="${0.0 * deg_to_rad} ${0.0 * deg_to_rad} ${0.0 * deg_to_rad}"/>
+ <axis xyz="0 0 1" />
+
+ <!-- v1 TALOS has 1st arm left joint (-90,30) and right joint (-30,90) -->
+ <!-- v2 TALOS has 1st arm left joint (-90,50) and right joint (-50,90) -->
+ <limit lower="${(-67.5 - 22.5*reflect)* deg_to_rad}" upper="${(67.5 - 22.5*reflect)* deg_to_rad}" effort="${arm_1_max_effort}" velocity="${arm_1_max_vel}" />
+ <dynamics friction="${arm_friction}" damping="${arm_damping}"/>
+<!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-90.00000 * deg_to_rad + arm_eps}"
+ soft_upper_limit="${30.00000 * deg_to_rad - arm_eps}" /> -->
+ </joint>
+
+
+ <link name="${name}_${side}_2_link">
+ <xacro:call macro="${name}_${side}_2_link_inertial" />
+
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/arm/arm_2.STL" scale="1 ${reflect} 1"/>
+ </geometry>
+ <material name="DarkGrey" />
+ </visual>
+
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/arm/arm_2_collision.STL" scale="1 ${reflect} 1"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="${name}_${side}_2_joint" type="revolute">
+ <parent link="${name}_${side}_1_link" />
+ <child link="${name}_${side}_2_link" />
+ <origin xyz="0.00493 ${0.13650*reflect} 0.04673"
+ rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
+ <axis xyz="1 0 0" />
+ <limit lower="${(-82.0000 + 82.5000*reflect)* deg_to_rad}" upper="${(82.50000*reflect + 82.0000)* deg_to_rad}" effort="${arm_2_max_effort}" velocity="${arm_2_max_vel}" />
+ <dynamics friction="${arm_friction}" damping="${arm_damping}"/>
+<!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${0.00000 * deg_to_rad + arm_eps}"
+ soft_upper_limit="${165.00000 * deg_to_rad - arm_eps}" /> -->
+
+ </joint>
+
+
+ <link name="${name}_${side}_3_link">
+ <xacro:call macro="${name}_${side}_3_link_inertial" />
+
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/arm/arm_3.STL" scale="1 ${reflect} 1"/>
+ </geometry>
+ <material name="DarkGrey" />
+ </visual>
+
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/arm/arm_3_collision.STL" scale="1 ${reflect} 1"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="${name}_${side}_3_joint" type="revolute">
+ <parent link="${name}_${side}_2_link" />
+ <child link="${name}_${side}_3_link" />
+ <origin xyz="0.00000 0.00000 0.00000"
+ rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
+ <axis xyz="0 0 1" />
+ <limit lower="${-139.0 * deg_to_rad}" upper="${139.0 * deg_to_rad}" effort="${arm_3_max_effort}" velocity="${arm_3_max_vel}" />
+ <dynamics friction="${arm_friction}" damping="${arm_damping}"/>
+<!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-140.0 * deg_to_rad + arm_eps}"
+ soft_upper_limit="${140.0 * deg_to_rad - arm_eps}" /> -->
+
+ </joint>
+
+ <!--************************-->
+ <!-- ELBOW -->
+ <!--************************-->
+ <link name="${name}_${side}_4_link">
+ <xacro:call macro="${name}_${side}_4_link_inertial" />
+
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/arm/arm_4.STL" scale="1 ${reflect} 1"/>
+ </geometry>
+ <material name="DarkGrey" />
+ </visual>
+
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/arm/arm_4_collision.STL" scale="1 ${reflect} 1"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="${name}_${side}_4_joint" type="revolute">
+ <parent link="${name}_${side}_3_link" />
+ <child link="${name}_${side}_4_link" />
+ <origin xyz="0.02000 0.00000 -0.27300"
+ rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
+ <axis xyz="0 1 0" />
+ <limit lower="${-128.0 * deg_to_rad}" upper="${0.2 * deg_to_rad}" effort="${arm_4_max_effort}" velocity="${arm_4_max_vel}" />
+ <dynamics friction="${arm_friction}" damping="${arm_damping}"/>
+<!-- <safety_controller k_position="20"
+ k_velocity="20"
+ soft_lower_limit="${-135.0 * deg_to_rad + arm_eps}"
+ soft_upper_limit="${0.0 * deg_to_rad - arm_eps}" /> -->
+ </joint>
+
+ <gazebo reference="${name}_${side}_1_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="${name}_${side}_2_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="${name}_${side}_3_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ <gazebo reference="${name}_${side}_4_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+
+ <gazebo reference="${name}_${side}_1_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="${name}_${side}_2_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="${name}_${side}_3_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="${name}_${side}_4_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+
+
+ <!--************************-->
+ <!-- WRIST -->
+ <!--************************-->
+ <xacro:talos_wrist name="arm" parent="${name}_${side}_4_link" side="${side}" reflect="${reflect}" />
+
+ <!-- extensions -->
+ <xacro:include filename="$(find talos_description)/urdf/arm/${side}_arm.transmissions.urdf.xacro" />
+
+ </xacro:macro>
+
+</robot>
diff --git a/urdf/arm/left_arm.transmissions.urdf.xacro b/urdf/arm/left_arm.transmissions.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..d81750bb6bb262d94c857b679cb86a7ff5a4245d
--- /dev/null
+++ b/urdf/arm/left_arm.transmissions.urdf.xacro
@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<!--
+
+ Copyright (c) 2018, PAL Robotics, S.L.
+ All rights reserved.
+
+ This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
+ To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
+ Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
+-->
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+ <!--File includes-->
+ <xacro:include filename="$(find talos_description)/urdf/arm/arm.transmission.xacro" />
+ <xacro:include filename="$(find talos_description_calibration)/urdf/calibration/calibration_constants.urdf.xacro" />
+
+ <!-- extensions -->
+ <xacro:talos_arm_simple_transmission name="${name}" side="left" number="1" reduction="1.0" offset_value="${arm_left_1_joint_offset}" />
+ <xacro:talos_arm_simple_transmission name="${name}" side="left" number="2" reduction="1.0" offset_value="${arm_left_2_joint_offset}" />
+ <xacro:talos_arm_simple_transmission name="${name}" side="left" number="3" reduction="1.0" offset_value="${arm_left_3_joint_offset}" />
+ <xacro:talos_arm_simple_transmission name="${name}" side="left" number="4" reduction="1.0" offset_value="${arm_left_4_joint_offset}" />
+
+</robot>
diff --git a/urdf/arm/left_wrist.transmissions.urdf.xacro b/urdf/arm/left_wrist.transmissions.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..277e72aa1a969f3007ce909faf85f1961e3d228c
--- /dev/null
+++ b/urdf/arm/left_wrist.transmissions.urdf.xacro
@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<!--
+
+ Copyright (c) 2018, PAL Robotics, S.L.
+ All rights reserved.
+
+ This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
+ To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
+ Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
+-->
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+ <!--File includes-->
+ <xacro:include filename="$(find talos_description)/urdf/arm/wrist.transmission.xacro" />
+ <xacro:include filename="$(find talos_description_calibration)/urdf/calibration/calibration_constants.urdf.xacro" />
+
+ <!-- extensions -->
+ <xacro:talos_wrist_simple_transmission name="${name}" side="${side}" number="5" reduction="1.0"
+ offset_value="${arm_left_5_joint_offset}"/>
+ <xacro:talos_wrist_differential_transmission name="${name}" side="${side}" number_1="6" number_2="7"
+ act_reduction_1="-1.0" act_reduction_2="1.0"
+ jnt_reduction_1="-1.0" jnt_reduction_2="-1.0"
+ offset_value_1="${arm_left_6_joint_offset}"
+ offset_value_2="${arm_left_7_joint_offset}"/>
+
+</robot>
diff --git a/urdf/arm/right_arm.transmissions.urdf.xacro b/urdf/arm/right_arm.transmissions.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..17afbc55a8ab7ccfdf3abd0efbf7a670ae6c8aed
--- /dev/null
+++ b/urdf/arm/right_arm.transmissions.urdf.xacro
@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<!--
+
+ Copyright (c) 2018, PAL Robotics, S.L.
+ All rights reserved.
+
+ This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
+ To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
+ Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
+-->
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+ <!--File includes-->
+ <xacro:include filename="$(find talos_description)/urdf/arm/arm.transmission.xacro" />
+ <xacro:include filename="$(find talos_description_calibration)/urdf/calibration/calibration_constants.urdf.xacro" />
+
+ <!-- extensions -->
+ <xacro:talos_arm_simple_transmission name="${name}" side="right" number="1" reduction="1.0" offset_value="${arm_right_1_joint_offset}" />
+ <xacro:talos_arm_simple_transmission name="${name}" side="right" number="2" reduction="1.0" offset_value="${arm_right_2_joint_offset}" />
+ <xacro:talos_arm_simple_transmission name="${name}" side="right" number="3" reduction="1.0" offset_value="${arm_right_3_joint_offset}" />
+ <xacro:talos_arm_simple_transmission name="${name}" side="right" number="4" reduction="1.0" offset_value="${arm_right_4_joint_offset}" />
+
+</robot>
diff --git a/urdf/arm/right_wrist.transmissions.urdf.xacro b/urdf/arm/right_wrist.transmissions.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..448968e5b1a7b308d7e564f6f08bac9b97639ea1
--- /dev/null
+++ b/urdf/arm/right_wrist.transmissions.urdf.xacro
@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<!--
+
+ Copyright (c) 2018, PAL Robotics, S.L.
+ All rights reserved.
+
+ This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
+ To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
+ Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
+-->
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+ <!--File includes-->
+ <xacro:include filename="$(find talos_description)/urdf/arm/wrist.transmission.xacro" />
+ <xacro:include filename="$(find talos_description_calibration)/urdf/calibration/calibration_constants.urdf.xacro" />
+
+ <!-- extensions -->
+ <xacro:talos_wrist_simple_transmission name="${name}" side="${side}" number="5" reduction="1.0"
+ offset_value="${arm_right_5_joint_offset}"/>
+ <xacro:talos_wrist_differential_transmission name="${name}" side="${side}" number_1="6" number_2="7"
+ act_reduction_1="-1.0" act_reduction_2="1.0"
+ jnt_reduction_1="-1.0" jnt_reduction_2="-1.0"
+ offset_value_1="${arm_right_6_joint_offset}"
+ offset_value_2="${arm_right_7_joint_offset}"/>
+
+</robot>
diff --git a/urdf/arm/wrist.transmission.xacro b/urdf/arm/wrist.transmission.xacro
index 2c84cf9a5ba4769beebca6df9084bcdb9409efd0..5018586e6d2fdb03c6b59b8c834cf411fa074239 100644
--- a/urdf/arm/wrist.transmission.xacro
+++ b/urdf/arm/wrist.transmission.xacro
@@ -10,13 +10,14 @@
-->
<robot xmlns:xacro="http://ros.org/wiki/xacro">
- <xacro:macro name="talos_wrist_simple_transmission" params="name side number reduction" >
+ <xacro:macro name="talos_wrist_simple_transmission" params="name side number reduction offset_value" >
<transmission name="${name}_${side}_${number}_trans">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="${name}_${side}_${number}_motor" >
<mechanicalReduction>${reduction}</mechanicalReduction>
</actuator>
<joint name="${name}_${side}_${number}_joint">
+ <offset>${offset_value}</offset>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
@@ -24,7 +25,7 @@
</xacro:macro>
<xacro:macro name="talos_wrist_differential_transmission"
- params="name side number_1 number_2 act_reduction_1 act_reduction_2 jnt_reduction_1 jnt_reduction_2" >
+ params="name side number_1 number_2 act_reduction_1 act_reduction_2 jnt_reduction_1 jnt_reduction_2 offset_value_1 offset_value_2" >
<transmission name="wrist_${side}_trans">
<type>transmission_interface/DifferentialTransmission</type>
<actuator name="${name}_${side}_${number_1}_motor">
@@ -37,14 +38,14 @@
</actuator>
<joint name="${name}_${side}_${number_1}_joint">
<role>joint1</role>
- <offset>0.0</offset>
+ <offset>${offset_value_1}</offset>
<mechanicalReduction>${jnt_reduction_1}</mechanicalReduction>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<joint name="${name}_${side}_${number_2}_joint">
<role>joint2</role>
- <offset>0.0</offset>
+ <offset>${offset_value_2}</offset>
<mechanicalReduction>${jnt_reduction_2}</mechanicalReduction>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
diff --git a/urdf/arm/wrist.urdf.xacro b/urdf/arm/wrist.urdf.xacro
index b765ea9c642635ff051ecf86d81d8f9f95cde1e4..b8c27f2cfc8f5be96110b0bf5004fbbefc1be569 100644
--- a/urdf/arm/wrist.urdf.xacro
+++ b/urdf/arm/wrist.urdf.xacro
@@ -11,8 +11,8 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes-->
- <xacro:include filename="$(find talos_data)/urdf/deg_to_rad.xacro" />
- <xacro:include filename="$(find talos_data)/urdf/arm/wrist.transmission.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/deg_to_rad.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/arm/wrist.transmission.xacro" />
<!--Constant parameters-->
<xacro:property name="wrist_friction" value="1.0" />
@@ -20,9 +20,9 @@
<xacro:property name="wrist_1_max_vel" value="1.95" />
<xacro:property name="wrist_2_max_vel" value="1.76" />
<xacro:property name="wrist_3_max_vel" value="1.76" />
- <xacro:property name="wrist_1_max_effort" value="3" />
- <xacro:property name="wrist_2_max_effort" value="6.6" />
- <xacro:property name="wrist_3_max_effort" value="6.6" />
+ <xacro:property name="wrist_1_max_effort" value="20.0" />
+ <xacro:property name="wrist_2_max_effort" value="8.0" />
+ <xacro:property name="wrist_3_max_effort" value="8.0" />
<xacro:property name="wrist_eps" value="0.02" />
@@ -32,26 +32,20 @@
<!-- WRIST -->
<!--************************-->
<link name="${name}_${side}_5_link">
- <inertial>
- <origin xyz="-0.00006 0.00326 0.07963" rpy="0.00000 0.00000 0.00000"/>
- <!-- <mass value="1.87792"/> -->
- <mass value="1.77792"/>
- <inertia ixx="0.00349500000" ixy="-0.00001300000" ixz="-0.00001000000"
- iyy="0.00436800000" iyz="0.00009700000"
- izz="0.00228300000"/>
- </inertial>
+ <xacro:call macro="${name}_${side}_5_link_inertial" />
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_5.STL" scale="1 ${reflect} 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_5.STL" scale="1 ${reflect} 1"/>
</geometry>
<material name="LightGrey" />
</visual>
+
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 ${reflect} 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_5_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</link>
@@ -59,10 +53,10 @@
<joint name="${name}_${side}_5_joint" type="revolute">
<parent link="${parent}" />
<child link="${name}_${side}_5_link" />
- <origin xyz="-0.02000 0.00000 -0.26430"
+ <origin xyz="-0.02000 0.00000 -0.26430"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="0 0 1" />
- <limit lower="${-145.0 * deg_to_rad}" upper="${145.0 * deg_to_rad}" effort="${wrist_1_max_effort}" velocity="${wrist_1_max_vel}" />
+ <limit lower="${-144.0 * deg_to_rad}" upper="${144.0 * deg_to_rad}" effort="${wrist_1_max_effort}" velocity="${wrist_1_max_vel}" />
<dynamics friction="${wrist_friction}" damping="${wrist_damping}"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -72,26 +66,20 @@
</joint>
<link name="${name}_${side}_6_link">
- <inertial>
- <origin xyz="0.00002 -0.00197 -0.00059" rpy="0.00000 0.00000 0.00000"/>
- <!-- <mass value="0.40931"/> -->
- <mass value="0.30931"/>
- <inertia ixx="0.00010700000" ixy="0.00000000000" ixz="0.00000000000"
- iyy="0.00014100000" iyz="-0.00000000000"
- izz="0.00015400000"/>
- </inertial>
+ <xacro:call macro="${name}_${side}_6_link_inertial" />
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_6.STL" scale="1 ${reflect} 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_6.STL" scale="1 ${reflect} 1"/>
</geometry>
<material name="LightGrey" />
</visual>
+
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 ${reflect} 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_6_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</link>
@@ -99,10 +87,10 @@
<joint name="${name}_${side}_6_joint" type="revolute">
<parent link="${name}_${side}_5_link" />
<child link="${name}_${side}_6_link" />
- <origin xyz="0.00000 0.00000 0.00000"
+ <origin xyz="0.00000 0.00000 0.00000"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="1 0 0" />
- <limit lower="${-80.0 * deg_to_rad}" upper="${80.0 * deg_to_rad}" effort="${wrist_2_max_effort}" velocity="${wrist_2_max_vel}" />
+ <limit lower="${-78.5 * deg_to_rad}" upper="${78.5 * deg_to_rad}" effort="${wrist_2_max_effort}" velocity="${wrist_2_max_vel}" />
<dynamics friction="${wrist_friction}" damping="${wrist_damping}"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -112,29 +100,12 @@
</joint>
<link name="${name}_${side}_7_link">
-
- <!-- WRONG VALUES
- <inertial>
- <origin xyz="-0.00089 0.00365 -0.07824" rpy="0.00000 0.00000 0.00000"/>
- <mass value="1.02604"/>
- <inertia ixx="0.00151400000" ixy="0.00000600000" ixz="0.00006600000"
- iyy="0.00146400000" iyz="0.00001200000"
- izz="0.00090300000"/>
- </inertial>
- -->
-
- <inertial>
- <origin xyz="0.007525 0.001378 -0.024630" rpy="0.00000 0.00000 0.00000"/>
- <mass value="0.308441"/>
- <inertia ixx="0.000309" ixy="0.000002" ixz="-0.000002"
- iyy="0.000219" iyz="0.000012"
- izz="0.000176"/>
- </inertial>
+ <xacro:call macro="${name}_${side}_7_link_inertial" />
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_7.STL" scale="1 ${reflect} 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_7.STL" scale="1 ${reflect} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
@@ -142,7 +113,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_7_collision.STL" scale="1 ${reflect} 1"/>
+ <mesh filename="package://talos_description/meshes/arm/arm_7_collision.STL" scale="1 ${reflect} 1"/>
</geometry>
</collision>
</link>
@@ -150,10 +121,10 @@
<joint name="${name}_${side}_7_joint" type="revolute">
<parent link="${name}_${side}_6_link" />
<child link="${name}_${side}_7_link" />
- <origin xyz="0.0 0.0 0.0"
+ <origin xyz="0.0 0.0 0.0"
rpy="${0.0 * deg_to_rad} ${0.0 * deg_to_rad} ${0.0 * deg_to_rad}"/>
<axis xyz="0 1 0" />
- <limit lower="${-40.0 * deg_to_rad}" upper="${40.0 * deg_to_rad}" effort="${wrist_3_max_effort}" velocity="${wrist_3_max_vel}"/>
+ <limit lower="${-39.0 * deg_to_rad}" upper="${39.0 * deg_to_rad}" effort="${wrist_3_max_effort}" velocity="${wrist_3_max_vel}"/>
<dynamics friction="${wrist_friction}" damping="${wrist_damping}"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -189,11 +160,7 @@
</gazebo>
<!-- extensions -->
- <xacro:talos_wrist_simple_transmission name="${name}" side="${side}" number="5" reduction="1.0" />
- <xacro:talos_wrist_differential_transmission name="${name}" side="${side}" number_1="6" number_2="7"
- act_reduction_1="-1.0" act_reduction_2="1.0"
- jnt_reduction_1="-1.0" jnt_reduction_2="${-reflect}" />
-
+ <xacro:include filename="$(find talos_description)/urdf/arm/${side}_wrist.transmissions.urdf.xacro" />
</xacro:macro>
</robot>
diff --git a/urdf/crane/crane.urdf.xacro b/urdf/crane/crane.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..feaa96b2ce15f895bd9cdfcb34638be0c4d22fa9
--- /dev/null
+++ b/urdf/crane/crane.urdf.xacro
@@ -0,0 +1,59 @@
+<?xml version="1.0"?>
+<!--
+
+ Copyright (c) 2016, PAL Robotics, S.L.
+ All rights reserved.
+
+ This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
+ To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
+ Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
+-->
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+ <!--File includes-->
+ <xacro:include filename="$(find talos_description)/urdf/deg_to_rad.xacro" />
+
+ <xacro:macro name="crane" params="parent">
+
+ <link name="crane_link">
+ <inertial>
+ <origin xyz="0.0 0.0 0.25" rpy="0.0 0.0 0.0"/>
+ <mass value="0.0"/>
+ <!-- [ m(3r^2 + h^2)/12 m(3r^2 + h^2)/12 mr^2/2] -->
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0"
+ iyy="0.0" iyz="0.0"
+ izz="0.0"/>
+ </inertial>
+
+ <visual>
+ <origin xyz="0 0 0.25" rpy="0 0 0" />
+ <geometry>
+ <cylinder length="0.5" radius="0.3"/>
+ </geometry>
+ <material name="CraneMaterial" rgba="0.3 0.3 0.3 0.1"/>
+ </visual>
+
+ <collision>
+ <origin xyz="0 0 0.25" rpy="0 0 0" />
+ <geometry>
+ <cylinder length="0.5" radius="0.3"/>
+ </geometry>
+ <material name="CraneMaterial"/>
+ </collision>
+ </link>
+
+ <joint name="crane_joint" type="fixed">
+ <parent link="${parent}" />
+ <child link="crane_link" />
+ <origin xyz="0.003 0.0 0.4" rpy="0.0 0.0 0.0"/>
+ <limit lower="0.0" upper="0.0" effort="0.0" velocity="0.0" />
+ <dynamics friction="0.0" damping="0.0"/>
+ </joint>
+
+ </xacro:macro>
+
+ <material name="CraneMaterial">
+ <color rgba="0.2 0.2 0.2 0.5"/>
+ </material>
+
+</robot>
diff --git a/urdf/gripper/gripper.gazebo.xacro b/urdf/gripper/gripper.gazebo.xacro
index 9a2a7412a0281afe669e32ed86a2c157bd28a18b..c54007b8278408c498edc70b44e14ecba9deaead 100644
--- a/urdf/gripper/gripper.gazebo.xacro
+++ b/urdf/gripper/gripper.gazebo.xacro
@@ -18,14 +18,14 @@
<mimicJoint>${name}_inner_double_joint</mimicJoint>
<multiplier>1.0</multiplier>
<offset>0.0</offset>
- <!-- <hasPID/> -->
+ <hasPID/>
</plugin>
<plugin name="mimic_${name}_fingertip_1_joint" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
<joint>${name}_joint</joint>
<mimicJoint>${name}_fingertip_1_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
- <!-- <hasPID/> -->
+ <hasPID/>
</plugin>
<plugin name="mimic_${name}_fingertip_2_joint" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
@@ -33,15 +33,15 @@
<mimicJoint>${name}_fingertip_2_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
- <!-- <hasPID/> -->
+ <hasPID/>
</plugin>
-
+
<plugin name="mimic_${name}_inner_single_joint" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
<joint>${name}_joint</joint>
<mimicJoint>${name}_inner_single_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
- <!-- <hasPID/> -->
+ <hasPID/>
</plugin>
<plugin name="mimic_${name}_motor_single_joint" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
@@ -49,14 +49,14 @@
<mimicJoint>${name}_motor_single_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
- <!-- <hasPID/> -->
+ <hasPID/>
</plugin>
<plugin name="mimic_${name}_fingertip_3_joint" filename="libroboticsgroup_gazebo_mimic_joint_plugin.so">
<joint>${name}_joint</joint>
<mimicJoint>${name}_fingertip_3_joint</mimicJoint>
<multiplier>-1.0</multiplier>
<offset>0.0</offset>
- <!-- <hasPID/> -->
+ <hasPID/>
</plugin>
</gazebo>
@@ -134,7 +134,7 @@
<gazebo reference="${name}_motor_single_link">
<material>Gazebo/Orange</material>
</gazebo>
-
+
<gazebo reference="${name}_inner_single_link">
<material>Gazebo/Orange</material>
@@ -150,4 +150,4 @@
</xacro:macro>
-</robot>
\ No newline at end of file
+</robot>
diff --git a/urdf/gripper/gripper.urdf.xacro b/urdf/gripper/gripper.urdf.xacro
index 03441306a7289c06f53d52e9bfaad24a58cea4e9..967d7d8f5265d74b237549d5e082ec9b1b69b475 100644
--- a/urdf/gripper/gripper.urdf.xacro
+++ b/urdf/gripper/gripper.urdf.xacro
@@ -3,26 +3,20 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes-->
- <xacro:include filename="$(find talos_data)/urdf/deg_to_rad.xacro" />
- <xacro:include filename="$(find talos_data)/urdf/gripper/gripper.transmission.xacro" />
- <xacro:include filename="$(find talos_data)/urdf/gripper/gripper.gazebo.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/deg_to_rad.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/gripper/gripper.transmission.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/gripper/gripper.gazebo.xacro" />
<xacro:macro name="talos_gripper" params="name parent reflect">
- <link name="${name}_base_link">
- <inertial>
- <origin xyz="-0.00534 0.00362 -0.02357" rpy="0.00000 0.00000 0.00000"/>
- <mass value="0.61585"/>
- <inertia ixx="0.00047200000" ixy="-0.00000800000" ixz="0.00003500000"
- iyy="0.00052100000" iyz="0.00000000000"
- izz="0.00069000000"/>
- </inertial>
+ <link name="${name}_base_link">
+ <xacro:call macro="${name}_base_link_inertial" />
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/base_link.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/base_link.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
@@ -30,7 +24,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -38,27 +32,19 @@
<joint name="${name}_base_link_joint" type="fixed">
<parent link="${parent}"/>
<child link="${name}_base_link"/>
- <origin xyz="0.00000 0.00000 -0.02875"
+ <origin xyz="0.00000 0.00000 -0.02875"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="0 0 0" />
</joint>
-
+
<link name="${name}_motor_double_link">
- <inertial>
- <origin xyz="0.02270 0.01781 -0.00977" rpy="0.00000 0.00000 0.00000"/>
- <mass value="0.16889"/>
- <!-- In order for Gazebo not to explode we needed to add these 0.001 values to the diagonal,
- also the tool pal_dynamics InertiaMassVisualization gave NaN on the computation of the inertia box -->
- <inertia ixx="${0.00015900000 + 0.001}" ixy="-0.00007000000" ixz="0.00003800000"
- iyy="${0.00022100000 + 0.001}" iyz="-0.00005300000"
- izz="${0.00026800000 + 0.001}"/>
- </inertial>
+ <xacro:call macro="${name}_motor_double_link_inertial" />
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
</geometry>
<material name="Orange"/>
</visual>
@@ -66,35 +52,29 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
- <joint name="${name}_joint" type="revolute">
+ <joint name="${name}_joint" type="revolute">
<parent link="${name}_base_link"/>
<child link="${name}_motor_double_link"/>
- <origin xyz="0.0 0.02025 -0.03"
+ <origin xyz="0.0 0.02025 -0.03"
rpy="${0.0 * deg_to_rad} ${0.0 * deg_to_rad} ${0.0 * deg_to_rad}"/>
<axis xyz="1 0 0" />
- <limit lower="${-60.0 * deg_to_rad}" upper="${0.0 * deg_to_rad}" effort="1.0" velocity="1.0" />
+ <limit lower="${-55.0 * deg_to_rad}" upper="${0.0 * deg_to_rad}" effort="1.0" velocity="1.0" />
<dynamics friction="1.0" damping="1.0"/>
</joint>
<link name="${name}_inner_double_link">
- <inertial>
- <origin xyz="-0.00056 0.03358 -0.01741" rpy="0.00000 0.00000 0.00000"/>
- <mass value="0.11922"/>
- <inertia ixx="0.00009100000" ixy="0.00000100000" ixz="-0.00000100000"
- iyy="0.00015600000" iyz="-0.00003200000"
- izz="0.00012600000"/>
- </inertial>
+ <xacro:call macro="${name}_inner_double_link_inertial" />
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/inner_double.STL" scale="1 1 1"/>
</geometry>
<material name="Orange"/>
</visual>
@@ -102,7 +82,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -110,29 +90,22 @@
<joint name="${name}_inner_double_joint" type="revolute">
<parent link="${name}_base_link"/>
<child link="${name}_inner_double_link"/>
- <origin xyz="0.00000 0.00525 -0.05598"
+ <origin xyz="0.00000 0.00525 -0.05598"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="1 0 0" />
<limit lower="${-60.0 * deg_to_rad}" upper="${0.0 * deg_to_rad}" effort="100.0" velocity="1.0" />
<mimic joint="${name}_joint" multiplier="${1.0}" offset="0.0" />
-
- </joint>
+ </joint>
<link name="${name}_fingertip_1_link">
- <inertial>
- <origin xyz="0.00000 0.00460 -0.00254" rpy="0.00000 0.00000 0.00000"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000"
- iyy="0.00000900000" iyz="0.00000100000"
- izz="0.00000200000"/>
- </inertial>
+ <xacro:call macro="${name}_fingertip_1_link_inertial" />
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
@@ -140,7 +113,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -149,27 +122,21 @@
<joint name="${name}_fingertip_1_joint" type="revolute">
<parent link="${name}_inner_double_link"/>
<child link="${name}_fingertip_1_link"/>
- <origin xyz="0.03200 0.04589 -0.06553"
+ <origin xyz="0.03200 0.04589 -0.06553"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="1 0 0" />
<limit lower="${0.0 * deg_to_rad}" upper="${60.0 * deg_to_rad}" effort="100.0" velocity="1.0" />
<mimic joint="${name}_joint" multiplier="${-1.0}" offset="0.0" />
- </joint>
+ </joint>
<link name="${name}_fingertip_2_link">
- <inertial>
- <origin xyz="0.00000 0.00460 -0.00254" rpy="0.00000 0.00000 0.00000"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000"
- iyy="0.00000900000" iyz="0.00000100000"
- izz="0.00000200000"/>
- </inertial>
+ <xacro:call macro="${name}_fingertip_2_link_inertial" />
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
@@ -177,7 +144,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -185,27 +152,21 @@
<joint name="${name}_fingertip_2_joint" type="revolute">
<parent link="${name}_inner_double_link"/>
<child link="${name}_fingertip_2_link"/>
- <origin xyz="-0.03200 0.04589 -0.06553"
+ <origin xyz="-0.03200 0.04589 -0.06553"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="1 0 0" />
<limit lower="${0.0 * deg_to_rad}" upper="${60.0 * deg_to_rad}" effort="100.0" velocity="1.0" />
<mimic joint="${name}_joint" multiplier="${-1.0}" offset="0.0" />
- </joint>
+ </joint>
<link name="${name}_motor_single_link">
- <inertial>
- <origin xyz="0.02589 -0.01284 -0.00640" rpy="0.00000 0.00000 0.00000"/>
- <mass value="0.14765"/>
- <inertia ixx="0.00011500000" ixy="0.00005200000" ixz="0.00002500000"
- iyy="0.00015300000" iyz="0.00003400000"
- izz="0.00019000000"/>
- </inertial>
+ <xacro:call macro="${name}_motor_single_link_inertial" />
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
</geometry>
<material name="Orange"/>
</visual>
@@ -213,7 +174,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -221,28 +182,22 @@
<joint name="${name}_motor_single_joint" type="revolute">
<parent link="${name}_base_link"/>
<child link="${name}_motor_single_link"/>
- <origin xyz="0.00000 -0.02025 -0.03000"
+ <origin xyz="0.00000 -0.02025 -0.03000"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="1 0 0" />
<limit lower="${0.0 * deg_to_rad}" upper="${60.0 * deg_to_rad}" effort="100.0" velocity="1.0" />
<mimic joint="${name}_joint" multiplier="${-1.0}" offset="0.0" />
- </joint>
+ </joint>
<link name="${name}_inner_single_link">
- <inertial>
- <origin xyz="0.00000 -0.03253 -0.01883" rpy="0.00000 0.00000 0.00000"/>
- <mass value="0.05356"/>
- <inertia ixx="0.00004700000" ixy="-0.00000000000" ixz="-0.00000000000"
- iyy="0.00003500000" iyz="0.00001700000"
- izz="0.00002400000"/>
- </inertial>
+ <xacro:call macro="${name}_inner_single_link_inertial" />
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/inner_single.STL" scale="1 1 1"/>
</geometry>
<material name="Orange"/>
</visual>
@@ -250,7 +205,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -258,28 +213,21 @@
<joint name="${name}_inner_single_joint" type="revolute">
<parent link="${name}_base_link"/>
<child link="${name}_inner_single_link"/>
- <origin xyz="0.00000 -0.00525 -0.05598"
+ <origin xyz="0.00000 -0.00525 -0.05598"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="1 0 0" />
<limit lower="${0.0 * deg_to_rad}" upper="${60.0 * deg_to_rad}" effort="100.0" velocity="1.0" />
<mimic joint="${name}_joint" multiplier="${-1.0}" offset="0.0" />
-
- </joint>
+ </joint>
<link name="${name}_fingertip_3_link">
- <inertial>
- <origin xyz="0.00000 0.00460 -0.00254" rpy="0.00000 0.00000 0.00000"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000"
- iyy="0.00000900000" iyz="0.00000100000"
- izz="0.00000200000"/>
- </inertial>
+ <xacro:call macro="${name}_fingertip_3_link_inertial" />
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip.STL" scale="1 1 1"/>
</geometry>
<material name="DarkGrey"/>
</visual>
@@ -287,7 +235,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -295,13 +243,13 @@
<joint name="${name}_fingertip_3_joint" type="revolute">
<parent link="${name}_inner_single_link"/>
<child link="${name}_fingertip_3_link"/>
- <origin xyz="0.00000 -0.04589 -0.06553"
+ <origin xyz="0.00000 -0.04589 -0.06553"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${180.00000 * deg_to_rad}"/>
<axis xyz="1 0 0" />
<limit lower="${0.0 * deg_to_rad}" upper="${60.0 * deg_to_rad}" effort="100.0" velocity="1.0" />
<mimic joint="${name}_joint" multiplier="${-1.0}" offset="0.0" />
- </joint>
-
+ </joint>
+
<xacro:virtual_joints name="${name}" />
@@ -315,6 +263,6 @@
<xacro:gripper_virtual_transmission name="${name}_motor_single" reduction="1.0"/>
<xacro:gripper_virtual_transmission name="${name}_fingertip_3" reduction="1.0"/> -->
- </xacro:macro>
+ </xacro:macro>
</robot>
diff --git a/urdf/head/head.transmission.xacro b/urdf/head/head.transmission.xacro
index 86523476cb3ee1d4633aea70c54e11e5a43f8309..6f9cb45609231acbcef4c7e940eac77c10a72ad3 100644
--- a/urdf/head/head.transmission.xacro
+++ b/urdf/head/head.transmission.xacro
@@ -11,7 +11,7 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="talos_head_differential_transmission"
- params="name number1 number2 act_reduction1 act_reduction2 jnt_reduction1 jnt_reduction2" >
+ params="name number1 number2 act_reduction1 act_reduction2 jnt_reduction1 jnt_reduction2 offset_value_1 offset_value_2" >
<transmission name="talos_trans">
<type>transmission_interface/HalfDifferentialTransmission</type>
<actuator name="${name}_${number1}_motor">
@@ -24,14 +24,14 @@
</actuator>
<joint name="${name}_${number1}_joint">
<role>joint1</role>
- <offset>0.0</offset>
+ <offset>${offset_value_1}</offset>
<mechanicalReduction>${jnt_reduction1}</mechanicalReduction>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<joint name="${name}_${number2}_joint">
<role>joint2</role>
- <offset>0.0</offset>
+ <offset>${offset_value_2}</offset>
<mechanicalReduction>${jnt_reduction2}</mechanicalReduction>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
diff --git a/urdf/head/head.urdf.xacro b/urdf/head/head.urdf.xacro
index 430db53787f770f307eaadef1de88487cbb80a7a..2b49c5db7634db90fa47cff0f54d41f43fb74c48 100644
--- a/urdf/head/head.urdf.xacro
+++ b/urdf/head/head.urdf.xacro
@@ -11,9 +11,10 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes-->
- <xacro:include filename="$(find talos_data)/urdf/deg_to_rad.xacro" />
- <xacro:include filename="$(find talos_data)/urdf/head/head.transmission.xacro" />
- <xacro:include filename="$(find talos_data)/urdf/sensors/orbbec_astra_pro.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/deg_to_rad.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/head/head.transmission.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/sensors/orbbec_astra_pro.urdf.xacro" />
+ <xacro:include filename="$(find talos_description_calibration)/urdf/calibration/calibration_constants.urdf.xacro" />
<!--Constant parameters-->
<xacro:property name="head_friction" value="1.0" />
@@ -26,18 +27,12 @@
<!--************************-->
<xacro:macro name="talos_head_1" params="name parent">
<link name="${name}_link">
- <inertial>
- <origin xyz="0.00120 0.00145 0.02165" rpy="0.00000 0.00000 0.00000"/>
- <mass value="0.65988"/>
- <inertia ixx="0.00122100000" ixy="-0.00000400000" ixz="0.00007000000"
- iyy="0.00092400000" iyz="-0.00004100000"
- izz="0.00103300000"/>
- </inertial>
+ <xacro:call macro="${name}_link_inertial" />
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/head/head_1.stl" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/head/head_1.stl" scale="1 1 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
@@ -45,7 +40,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/head/head_1_collision.stl" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/head/head_1_collision.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -53,10 +48,10 @@
<joint name="${name}_joint" type="revolute">
<parent link="${parent}"/>
<child link="${name}_link"/>
- <origin xyz="0.00000 0.00000 0.31600"
+ <origin xyz="0.02000 0.00000 0.32100"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="0 1 0" />
- <limit lower="${-15.00000 * deg_to_rad}" upper="${45.00000 * deg_to_rad}" effort="8.0" velocity="1.0" />
+ <limit lower="${-12.00000 * deg_to_rad}" upper="${45.00000 * deg_to_rad}" effort="8.0" velocity="1.0" />
<dynamics damping="${head_damping}" friction="${head_friction}"/>
<!-- <safety_controller k_position="20"
k_velocity="20"
@@ -79,25 +74,19 @@
</xacro:macro>
-
+
<!--************************-->
<!-- HEAD_2 (PAN) -->
<!--************************-->
<xacro:macro name="talos_head_2" params="name parent">
<link name="${name}_link">
- <inertial>
- <origin xyz="-0.01036 -0.00037 0.13778" rpy="0.00000 0.00000 0.00000"/>
- <mass value="1.40353"/>
- <inertia ixx="0.00722500000" ixy="-0.00002500000" ixz="0.00032900000"
- iyy="0.00687300000" iyz="0.00004400000"
- izz="0.00437300000"/>
- </inertial>
+ <xacro:call macro="${name}_link_inertial" />
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/head/head_2.stl" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/head/head_2.stl" scale="1 1 1"/>
</geometry>
<material name="LightGrey" />
</visual>
@@ -105,7 +94,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/head/head_2_collision.stl" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/head/head_2_collision.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -113,7 +102,7 @@
<joint name="${name}_joint" type="revolute">
<parent link="${parent}"/>
<child link="${name}_link"/>
- <origin xyz="0.00000 0.00000 0.00000"
+ <origin xyz="0.00000 0.00000 0.00000"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="0 0 1" />
<limit lower="${-75.00000 * deg_to_rad}" upper="${75.00000 * deg_to_rad}" effort="4.0" velocity="1.0" />
@@ -144,15 +133,16 @@
<xacro:macro name="talos_head" params="name parent">
<xacro:talos_head_1 name="${name}_1" parent="${parent}" />
<xacro:talos_head_2 name="${name}_2" parent="${name}_1_link"/>
- <xacro:xtion_pro_live name="rgbd" parent="${name}_2">
+ <xacro:orbbec_astra_pro name="rgbd" parent="${name}_2">
<!-- Pose of sensor frame wrt to base -->
- <origin xyz="0.066 0.0 0.1982" rpy="0 0 0"/>
+ <origin xyz="${camera_position_x} ${camera_position_y} ${camera_position_z}" rpy="${camera_orientation_r} ${camera_orientation_p} ${camera_orientation_y}" />
<!-- Pose of optical frame wrt to sensor -->
<origin xyz="0 0 0" rpy="${-90 * deg_to_rad} 0 ${-90 * deg_to_rad}"/>
- </xacro:xtion_pro_live>
+ </xacro:orbbec_astra_pro>
<xacro:talos_head_differential_transmission name="${name}" number1="1" number2="2"
act_reduction1="1.0" act_reduction2="1.0"
- jnt_reduction1="1.0" jnt_reduction2="2.0" />
+ jnt_reduction1="1.0" jnt_reduction2="2.0"
+ offset_value_1="${head_1_joint_offset}" offset_value_2="${head_2_joint_offset}"/>
</xacro:macro>
</robot>
diff --git a/urdf/leg/foot_collision_default.urdf.xacro b/urdf/leg/foot_collision_default.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..68c76e9d876259884e87153915e2ffec1865b309
--- /dev/null
+++ b/urdf/leg/foot_collision_default.urdf.xacro
@@ -0,0 +1,12 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="talos">
+ <xacro:macro name="talos_foot_collision">
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://talos_description/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
+ </geometry>
+ </collision>
+ </xacro:macro>
+</robot>
diff --git a/urdf/leg/foot_collision_tallbox.urdf.xacro b/urdf/leg/foot_collision_tallbox.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..b77aba0a460e4d82110e2d6e66ba9711ea3caf52
--- /dev/null
+++ b/urdf/leg/foot_collision_tallbox.urdf.xacro
@@ -0,0 +1,12 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="talos">
+ <xacro:macro name="talos_foot_collision">
+ <collision>
+ <origin xyz="0 0 -0.035" rpy="0 0 0" />
+ <geometry>
+ <box size="0.21 0.13 0.15"/>
+ </geometry>
+ </collision>
+ </xacro:macro>
+</robot>
diff --git a/urdf/leg/foot_collision_thinbox.urdf.xacro b/urdf/leg/foot_collision_thinbox.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..8404ab0ec446d36476081943d0fcaaba2995cca9
--- /dev/null
+++ b/urdf/leg/foot_collision_thinbox.urdf.xacro
@@ -0,0 +1,12 @@
+<?xml version="1.0"?>
+
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="talos">
+ <xacro:macro name="talos_foot_collision">
+ <collision>
+ <origin xyz="0 0 -0.1" rpy="0 0 0" />
+ <geometry>
+ <box size="0.21 0.13 0.02"/>
+ </geometry>
+ </collision>
+ </xacro:macro>
+</robot>
diff --git a/urdf/leg/leg.urdf.xacro b/urdf/leg/leg.urdf.xacro
index 9319dfb072e4f0213f93e28507201026d6dfc5b0..b6f632853abd2e9712d748a3aabc19d0ec7e1246 100644
--- a/urdf/leg/leg.urdf.xacro
+++ b/urdf/leg/leg.urdf.xacro
@@ -2,7 +2,7 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="talos">
- <xacro:include filename="$(find talos_data)/urdf/leg/leg.transmission.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/leg/leg.transmission.xacro" />
<xacro:property name="deg_to_rad" value="0.01745329251994329577" />
<xacro:property name="eps_radians" value="0.008" /> <!-- 0.45deg -->
@@ -16,18 +16,12 @@
<!-- Joint hip_z (mesh link) : child link hip_x -> parent link base_link -->
<link name="leg_${prefix}_1_link">
- <inertial>
- <origin xyz="0.02320 -0.00009 0.04949" rpy="0.00000 0.00000 0.00000"/>
- <mass value="1.88569"/>
- <inertia ixx="0.00384800000" ixy="0.00003200000" ixz="-0.00082600000"
- iyy="0.00599400000" iyz="0.00007800000"
- izz="0.00322200000"/>
- </inertial>
+ <xacro:call macro="leg_${prefix}_1_link_inertial" />
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_z_lo_res.stl" scale="1 ${reflect*1} 1"/>
+ <mesh filename="package://talos_description/meshes/v2/hip_z_lo_res.stl" scale="1 ${reflect*1} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
@@ -35,15 +29,15 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_z_collision.stl" scale="1 ${reflect*1} 1"/>
+ <mesh filename="package://talos_description/meshes/v2/hip_z_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry>
- </collision>
+ </collision>
</link>
<joint name="leg_${prefix}_1_joint" type="revolute">
<parent link="base_link"/>
<child link="leg_${prefix}_1_link"/>
- <origin xyz="-0.02 ${reflect*0.08500} -0.27105"
+ <origin xyz="-0.02 ${reflect*0.08500} -0.27105"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="0 0 1" />
<limit lower="${(-55.0 + 35.0*reflect)*deg_to_rad}" upper="${(55.0 + 35.0*reflect)*deg_to_rad}" effort="100" velocity="3.87" />
@@ -54,26 +48,20 @@
<!-- Joint hip_x (mesh link) : child link hip_y -> parent link hip_z -->
<link name="leg_${prefix}_2_link">
- <inertial>
- <origin xyz="0.01583 -0.00021 0.00619" rpy="0.00000 0.00000 0.00000"/>
- <mass value="2.37607"/>
- <inertia ixx="0.00342100000" ixy="-0.00011300000" ixz="-0.00022500000"
- iyy="0.00402400000" iyz="-0.00003100000"
- izz="0.00416400000"/>
- </inertial>
+ <xacro:call macro="leg_${prefix}_2_link_inertial" />
<visual>
<origin xyz="0 0 0.0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_x_lo_res.stl" scale="1 ${reflect*1} 1"/>
+ <mesh filename="package://talos_description/meshes/v2/hip_x_lo_res.stl" scale="1 ${reflect*1} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
<collision>
- <origin xyz="0 0 0.0" rpy="0 0 0" />
+ <origin xyz="0 0 0.0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_x_collision.stl" scale="1 ${reflect*1} 1"/>
+ <mesh filename="package://talos_description/meshes/v2/hip_x_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry>
</collision>
</link>
@@ -81,7 +69,7 @@
<joint name="leg_${prefix}_2_joint" type="revolute">
<parent link="leg_${prefix}_1_link"/>
<child link="leg_${prefix}_2_link"/>
- <origin xyz="0.00000 0.00000 0.00000"
+ <origin xyz="0.00000 0.00000 0.00000"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="1 0 0" />
<limit lower="-0.5236" upper="0.5236" effort="160" velocity="5.8" />
@@ -91,18 +79,12 @@
<!-- Joint hip_y (mesh link) : child link knee -> parent link hip_x -->
<link name="leg_${prefix}_3_link">
- <inertial>
- <origin xyz="0.00658 ${reflect*0.06563} -0.17278" rpy="0.00000 0.00000 0.00000"/>
- <mass value="6.82734"/>
- <inertia ixx="0.12390600000" ixy="${reflect*-0.00041200000}" ixz="-0.00205900000"
- iyy="0.10844700000" iyz="${reflect*0.01672500000}"
- izz="0.02781200000"/>
- </inertial>
+ <xacro:call macro="leg_${prefix}_3_link_inertial" />
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_y_lo_res.stl" scale="1 ${reflect*1} 1"/>
+ <mesh filename="package://talos_description/meshes/v2/hip_y_lo_res.stl" scale="1 ${reflect*1} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
@@ -110,15 +92,15 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_y_collision.stl" scale="1 ${reflect*1} 1"/>
+ <mesh filename="package://talos_description/meshes/v2/hip_y_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry>
- </collision>
+ </collision>
</link>
<joint name="leg_${prefix}_3_joint" type="revolute">
<parent link="leg_${prefix}_2_link"/>
<child link="leg_${prefix}_3_link"/>
- <origin xyz="0.00000 0.00000 0.00000"
+ <origin xyz="0.00000 0.00000 0.00000"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="0 1 0" />
<limit lower="-2.095" upper="0.7" effort="160" velocity="5.8" />
@@ -128,18 +110,12 @@
<!-- Joint knee (mesh link) : child link ankle_y -> parent link hip_y -->
<link name="leg_${prefix}_4_link">
- <inertial>
- <origin xyz="0.01520 ${reflect*0.02331} -0.12063" rpy="0.00000 0.00000 0.00000"/>
- <mass value="3.63668"/>
- <inertia ixx="0.03531500000" ixy="${reflect*0.00002900000}" ixz="-0.00016600000"
- iyy="0.02933600000" iyz="${reflect*-0.00130500000}"
- izz="0.01174000000"/>
- </inertial>
+ <xacro:call macro="leg_${prefix}_4_link_inertial" />
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/knee_lo_res.stl" scale="1 ${reflect*1} 1"/>
+ <mesh filename="package://talos_description/meshes/v2/knee_lo_res.stl" scale="1 ${reflect*1} 1"/>
</geometry>
<material name="DarkGrey" />
</visual>
@@ -147,17 +123,17 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/knee_collision.stl" scale="1 ${reflect*1} 1"/>
+ <mesh filename="package://talos_description/meshes/v2/knee_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry>
- </collision>
+ </collision>
</link>
<joint name="leg_${prefix}_4_joint" type="revolute">
<parent link="leg_${prefix}_3_link"/>
<child link="leg_${prefix}_4_link"/>
-
- <origin xyz="0.00000 0.00000 -0.38000"
- rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
+
+ <origin xyz="0.00000 0.00000 -0.38000"
+ rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="0 1 0" />
<limit lower="0" upper="2.618" effort="300" velocity="7" />
<dynamics friction="${leg_friction}" damping="${leg_damping}"/>
@@ -166,113 +142,82 @@
<!-- Joint ankle_y (mesh link) : child link ankle_x -> parent link knee -->
<link name="leg_${prefix}_5_link">
- <inertial>
- <origin xyz="-0.01106 ${reflect*0.04708} 0.05271" rpy="0.00000 0.00000 0.00000"/>
- <mass value="1.24433"/>
- <inertia ixx="0.01148700000" ixy="${reflect*-0.00068600000}" ixz="-0.00052600000"
- iyy="0.00952600000" iyz="${reflect*0.00263300000}"
- izz="0.00390800000"/>
- </inertial>
+ <!-- XXX AS: this link has moving lever and inertial parameters should slightly vary depending on configuration. XXX -->
+ <xacro:call macro="leg_${prefix}_5_link_inertial" />
<visual>
<origin xyz="0 0 0.0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_Y_lo_res.stl" scale="1 ${reflect*1} 1"/>
+ <mesh filename="package://talos_description/meshes/v2/ankle_Y_lo_res.stl" scale="1 ${reflect*1} 1"/>
</geometry>
<material name="Grey" />
</visual>
-
+
<collision>
<origin xyz="0 0 0.0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_Y_collision.stl" scale="1 ${reflect*1} 1"/>
+ <mesh filename="package://talos_description/meshes/v2/ankle_Y_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry>
- </collision>
+ </collision>
</link>
<joint name="leg_${prefix}_5_joint" type="revolute">
<parent link="leg_${prefix}_4_link"/>
<child link="leg_${prefix}_5_link"/>
- <origin xyz="0.00000 0.00000 -0.32500"
+ <origin xyz="0.00000 0.00000 -0.32500"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="0 1 0" />
- <limit lower="-1.309" upper="0.768" effort="160" velocity="5.8" />
+ <limit lower="-1.27" upper="0.68" effort="160" velocity="5.8" />
<dynamics friction="${leg_friction}" damping="${leg_damping}"/>
</joint>
<!-- Joint ankle_x (mesh link) : child link None -> parent link ankle_y -->
<link name="leg_${prefix}_6_link">
- <inertial>
- <origin xyz="-0.02087 -0.00019 -0.06059" rpy="0.00000 0.00000 0.00000"/>
- <mass value="1.59457"/>
- <inertia ixx="0.00383800000" ixy="0.00001600000" ixz="-0.00104100000"
- iyy="0.00657200000" iyz="-0.00001700000"
- izz="0.00504400000"/>
- </inertial>
+ <xacro:call macro="leg_${prefix}_6_link_inertial" />
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_X_lo_res.stl" scale="1 ${reflect*1} 1"/>
+ <mesh filename="package://talos_description/meshes/v2/ankle_X_lo_res.stl" scale="1 ${reflect*1} 1"/>
</geometry>
<material name="Grey" />
</visual>
- <!--
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
- </geometry>
- </collision>
-
- -->
-
- <collision>
- <origin xyz="0 0 -0.1" rpy="0 0 0" />
- <geometry>
- <box size="0.21 0.13 0.02"/>
- </geometry>
- </collision>
-
+ <xacro:talos_foot_collision />
</link>
<joint name="leg_${prefix}_6_joint" type="revolute">
<parent link="leg_${prefix}_5_link"/>
<child link="leg_${prefix}_6_link"/>
- <origin xyz="0.00000 0.00000 0.00000"
+ <origin xyz="0.00000 0.00000 0.00000"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="1 0 0" />
<limit lower="-0.5236" upper="0.5236" effort="100" velocity="4.8" />
<dynamics friction="${leg_friction}" damping="${leg_damping}"/>
</joint>
-
+
<!-- from here is copy paste -->
<link name="${prefix}_sole_link">
- <inertial>
- <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
- <mass value="0.01" />
- <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
- </inertial>
- </link>
-
- <joint name="leg_${prefix}_sole_fix_joint" type="fixed">
+ <xacro:call macro="${prefix}_sole_link_inertial" />
+ </link>
+
+ <joint name="leg_${prefix}_sole_fix_joint" type="fixed">
<parent link="leg_${prefix}_6_link" />
<child link="${prefix}_sole_link" />
<origin xyz="0.00 0.00 -0.107" rpy="0 0 0" />
<axis xyz="1 0 0" />
<dynamics friction="${leg_friction}" damping="${leg_damping}"/>
- </joint>
-
+ </joint>
+
<xacro:talos_leg_simple_transmission side="${prefix}" number="1" reduction="${leg_reduction}" />
<xacro:talos_leg_simple_transmission side="${prefix}" number="2" reduction="${leg_reduction}" />
<xacro:talos_leg_simple_transmission side="${prefix}" number="3" reduction="${leg_reduction}" />
<xacro:talos_leg_simple_transmission side="${prefix}" number="4" reduction="${leg_reduction}" />
<xacro:talos_leg_simple_transmission side="${prefix}" number="5" reduction="${leg_reduction}" />
<xacro:talos_leg_simple_transmission side="${prefix}" number="6" reduction="${leg_reduction}" />
-
+
<gazebo reference="leg_${prefix}_1_link">
<mu1>0.9</mu1>
<mu2>0.9</mu2>
@@ -293,7 +238,7 @@
<mu1>0.9</mu1>
<mu2>0.9</mu2>
</gazebo>
-
+
<!-- contact model for foot surface -->
<gazebo reference="leg_${prefix}_6_link">
<kp>1000000.0</kp>
@@ -345,6 +290,6 @@
<material>Gazebo/White</material>
</gazebo>
- </xacro:macro>
-
+ </xacro:macro>
+
</robot>
diff --git a/urdf/sensors/ftsensor.gazebo.xacro b/urdf/sensors/ftsensor.gazebo.xacro
deleted file mode 100644
index 603ab7dbb0fd8f568eb096b38e34acfa4bf09752..0000000000000000000000000000000000000000
--- a/urdf/sensors/ftsensor.gazebo.xacro
+++ /dev/null
@@ -1,29 +0,0 @@
-<?xml version="1.0"?>
-<!--
- Copyright (c) 2011, PAL Robotics, S.L.
- All rights reserved.
-
- This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
- To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
- Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
--->
-
-<robot name="reemc" xmlns:xacro="http://ros.org/wiki/xacro">
-
-<xacro:macro name="reemc_force_talosque_sensor" params="name update_rate">
- <gazebo reference="${name}">
- <sensor name="${name}_contact_sensor" type="contact">
- <pose>0.105 0.071 0 0 0 0</pose>
- <always_on>1</always_on>
- <update_rate>${update_rate}</update_rate>
- <contact>
- <collision>${name}_collision</collision>
- </contact>
- </sensor>
- </gazebo>
- <gazebo reference="${name}">
- <provideFeedback>1</provideFeedback>
- </gazebo>
-
-</xacro:macro>
-</robot>
diff --git a/urdf/sensors/ftsensor.urdf.xacro b/urdf/sensors/ftsensor.urdf.xacro
index b599d70805bf2bfc4eaff9d5863387e897e65612..b83e8a9a784398cd9594508d25bba3e066ab8cad 100644
--- a/urdf/sensors/ftsensor.urdf.xacro
+++ b/urdf/sensors/ftsensor.urdf.xacro
@@ -16,10 +16,7 @@
<!-- ft sensor -->
<!--************************-->
<link name="${name}_${side}_ft_link">
- <inertial>
- <mass value="0.1" />
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
- </inertial>
+ <xacro:call macro="${name}_${side}_ft_link_inertial" />
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
@@ -45,10 +42,7 @@
<!-- FT TOOL -->
<!--***********************-->
<link name="${name}_${side}_ft_tool_link">
- <inertial>
- <mass value="0.1" />
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
- </inertial>
+ <xacro:call macro="${name}_${side}_ft_tool_link_inertial" />
<visual>
<origin xyz="0.0 0 0" rpy="0 ${0.0 * deg_to_rad} 0" />
<geometry>
diff --git a/urdf/sensors/imu.urdf.xacro b/urdf/sensors/imu.urdf.xacro
index e88fe1b5cea31a32e672afcfbcfcd9e21d02c808..b76598e0db632468844ebdaa4fd621e7df36f382 100644
--- a/urdf/sensors/imu.urdf.xacro
+++ b/urdf/sensors/imu.urdf.xacro
@@ -11,11 +11,7 @@
<xacro:macro name="talos_imu" params="name parent update_rate *origin">
<link name="${name}_link">
- <inertial>
- <mass value="0.01"/>
- <origin xyz="0 0 0"/>
- <inertia ixx="0.000001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.000001"/>
- </inertial>
+ <xacro:call macro="${name}_link_inertial" />
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
diff --git a/urdf/sensors/openni.gazebo.xacro b/urdf/sensors/openni.gazebo.xacro
index 2c74e619ab0a03e95cc1793272566dfaa648b9bd..f16a97f4d04d4cafc1c8ee82117258147ce9dc29 100644
--- a/urdf/sensors/openni.gazebo.xacro
+++ b/urdf/sensors/openni.gazebo.xacro
@@ -12,7 +12,7 @@
* Publishes MONO8 format "depth" image & PointCloud
* Publishes RGB8 format color image & 2nd copy of PointCloud (for registered)
- Sensor parameters are from PR2 description.
+ Sensor parameters are from PR2 description.
-->
<robot xmlns:xacro="http://ros.org/wiki/xacro">
@@ -37,11 +37,11 @@
<pointCloudTopicName>/${camera_name}/depth/points</pointCloudTopicName>
<frameName>${frame_name}</frameName>
<pointCloudCutoff>0.5</pointCloudCutoff>
- <distalostionK1>0.00000001</distalostionK1>
- <distalostionK2>0.00000001</distalostionK2>
- <distalostionK3>0.00000001</distalostionK3>
- <distalostionT1>0.00000001</distalostionT1>
- <distalostionT2>0.00000001</distalostionT2>
+ <distortionK1>0.00000001</distortionK1>
+ <distortionK2>0.00000001</distortionK2>
+ <distortionK3>0.00000001</distortionK3>
+ <distortionT1>0.00000001</distortionT1>
+ <distortionT2>0.00000001</distortionT2>
</controller:gazebo_ros_openni_kinect>
</sensor:camera>
</gazebo>
@@ -66,11 +66,11 @@
<pointCloudTopicName>/${camera_name}/depth_registered/points</pointCloudTopicName>
<frameName>${frame_name}</frameName>
<pointCloudCutoff>0.5</pointCloudCutoff>
- <distalostionK1>0.00000001</distalostionK1>
- <distalostionK2>0.00000001</distalostionK2>
- <distalostionK3>0.00000001</distalostionK3>
- <distalostionT1>0.00000001</distalostionT1>
- <distalostionT2>0.00000001</distalostionT2>
+ <distortionK1>0.00000001</distortionK1>
+ <distortionK2>0.00000001</distortionK2>
+ <distortionK3>0.00000001</distortionK3>
+ <distortionT1>0.00000001</distortionT1>
+ <distortionT2>0.00000001</distortionT2>
</controller:gazebo_ros_openni_kinect>
</sensor:camera>
</gazebo>
diff --git a/urdf/sensors/orbbec_astra_pro.gazebo.xacro b/urdf/sensors/orbbec_astra_pro.gazebo.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..3e2b2d2c394e757df4e7109da09256aec20f9b7f
--- /dev/null
+++ b/urdf/sensors/orbbec_astra_pro.gazebo.xacro
@@ -0,0 +1,100 @@
+<?xml version="1.0"?>
+<!--
+
+ Copyright (c) 2013, PAL Robotics, S.L.
+ All rights reserved.
+
+ This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
+ To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
+ Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
+
+ ROS Gazebo plugin for RGBD sensor (OpenNI/Kinect/ASUS)
+ * Publishes MONO8 format "depth" image & PointCloud
+ * Publishes RGB8 format color image & 2nd copy of PointCloud (for registered)
+
+ Configuration according with:
+ https://orbbec3d.com/product-astra-pro/
+-->
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+ <xacro:macro name="orbbec_astra_pro_rgbd_camera_gazebo" params="name">
+ <gazebo reference="${name}_link">
+ <!-- IR + depth -->
+ <sensor type="depth" name="${name}_frame_sensor">
+ <always_on>true</always_on>
+ <update_rate>30.0</update_rate>
+ <camera>
+ <horizontal_fov>${60.0 * deg_to_rad}</horizontal_fov>
+ <image>
+ <format>B8G8R8</format>
+ <width>640</width>
+ <height>480</height>
+ </image>
+ <clip>
+ <near>0.6</near>
+ <far>8.0</far>
+ </clip>
+ </camera>
+ <plugin name="${name}_frame_controller" filename="libgazebo_ros_openni_kinect.so">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>30.0</updateRate>
+ <cameraName>${name}</cameraName>
+ <imageTopicName>rgb/image_raw</imageTopicName>
+ <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
+ <depthImageTopicName>depth/image_raw</depthImageTopicName>
+ <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
+ <pointCloudTopicName>depth/points</pointCloudTopicName>
+ <frameName>${name}_optical_frame</frameName>
+ <pointCloudCutoff>0.45</pointCloudCutoff>
+ <rangeMax>10.0</rangeMax>
+ <distortionK1>0.00000001</distortionK1>
+ <distortionK2>0.00000001</distortionK2>
+ <distortionK3>0.00000001</distortionK3>
+ <distortionT1>0.00000001</distortionT1>
+ <distortionT2>0.00000001</distortionT2>
+ </plugin>
+ </sensor>
+
+ <!-- RGB High res-->
+ <sensor type="camera" name="${name}_high_res_frame_sensor">
+ <update_rate>30.0</update_rate>
+ <camera name="head">
+ <horizontal_fov>${60.0 * deg_to_rad}</horizontal_fov>
+ <image>
+ <width>1280</width>
+ <height>720</height>
+ <format>R8G8B8</format>
+ </image>
+ <clip>
+ <near>0.05</near>
+ <far>100</far>
+ </clip>
+ <noise>
+ <type>gaussian</type>
+ <!-- Noise is sampled independently per pixel on each frame.
+ That pixel's noise value is added to each of its color
+ channels, which at that point lie in the range [0,1]. -->
+ <mean>0.0</mean>
+ <stddev>0.007</stddev>
+ </noise>
+ </camera>
+ <plugin name="${name}_high_res_frame_controller" filename="libgazebo_ros_camera.so">
+ <alwaysOn>true</alwaysOn>
+ <!-- Patch to publish at 30 Hz -->
+ <updateRate>45.0</updateRate>
+ <cameraName>${name}/high_res</cameraName>
+ <imageTopicName>/${name}/rgb/high_res/image_raw</imageTopicName>
+ <cameraInfoTopicName>/${name}/rgb/high_res/camera_info</cameraInfoTopicName>
+ <frameName>${name}_optical_frame</frameName>
+ <hackBaseline>0.0</hackBaseline>
+ <distortionK1>0.00000001</distortionK1>
+ <distortionK2>0.00000001</distortionK2>
+ <distortionK3>0.00000001</distortionK3>
+ <distortionT1>0.00000001</distortionT1>
+ <distortionT2>0.00000001</distortionT2>
+ </plugin>
+ </sensor>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+ </xacro:macro>
+</robot>
diff --git a/urdf/sensors/orbbec_astra_pro.urdf.xacro b/urdf/sensors/orbbec_astra_pro.urdf.xacro
index 5a685408da8b14903e15ff7e01791da03ed9f895..aca221641091d1e3e7bebb2589a58cc7575a0597 100644
--- a/urdf/sensors/orbbec_astra_pro.urdf.xacro
+++ b/urdf/sensors/orbbec_astra_pro.urdf.xacro
@@ -24,10 +24,10 @@
-->
<robot xmlns:xacro="http://ros.org/wiki/xacro">
- <xacro:include filename="$(find talos_data)/urdf/sensors/xtion_pro_live.gazebo.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/sensors/orbbec_astra_pro.gazebo.xacro" />
<!-- Macro -->
- <xacro:macro name="xtion_pro_live" params="name parent *origin *optical_origin">
+ <xacro:macro name="orbbec_astra_pro" params="name parent *origin *optical_origin">
<!-- frames in the center of the camera -->
<joint name="${name}_joint" type="fixed">
@@ -39,18 +39,12 @@
</joint>
<link name="${name}_link">
- <inertial>
- <mass value="0.01" />
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <!-- inertia tensor computed analytically for a solid cuboid -->
- <inertia ixx="0.000030" ixy="0.0" ixz="0.0"
- iyy="0.000030" iyz="0.0"
- izz="0.000002" />
- </inertial>
+ <!-- inertia tensor computed analytically for a solid cuboid -->
+ <xacro:call macro="${name}_link_inertial" />
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
- <mesh filename="package://talos_data/meshes/sensors/orbbec/orbbec.STL" />
+ <mesh filename="package://talos_description/meshes/sensors/orbbec/orbbec.STL" />
</geometry>
<material name="DarkGrey">
<color rgba="0.5 0.5 0.5 1"/>
@@ -71,13 +65,7 @@
</joint>
<link name="${name}_optical_frame">
- <inertial>
- <mass value="0.01" />
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <inertia ixx="0.0" ixy="0.0" ixz="0.0"
- iyy="0.0" iyz="0.0"
- izz="0.0" />
- </inertial>
+ <xacro:call macro="${name}_optical_frame_inertial" />
</link>
<!-- frames of the depth sensor -->
@@ -115,7 +103,7 @@
<link name="${name}_rgb_optical_frame"/>
<!-- extensions -->
- <xacro:xtion_pro_live_rgbd_camera_gazebo name="${name}" />
+ <xacro:orbbec_astra_pro_rgbd_camera_gazebo name="${name}" />
</xacro:macro>
diff --git a/urdf/sensors/xtion_pro_live.gazebo.xacro b/urdf/sensors/xtion_pro_live.gazebo.xacro
index 6ac77d35e06b960a6bd84586b26f4efee3132787..79f59121945837dd2c73c2df319c842ced3cd501 100644
--- a/urdf/sensors/xtion_pro_live.gazebo.xacro
+++ b/urdf/sensors/xtion_pro_live.gazebo.xacro
@@ -49,11 +49,11 @@
<frameName>${name}_optical_frame</frameName>
<pointCloudCutoff>0.45</pointCloudCutoff>
<rangeMax>10.0</rangeMax>
- <distalostionK1>0.00000001</distalostionK1>
- <distalostionK2>0.00000001</distalostionK2>
- <distalostionK3>0.00000001</distalostionK3>
- <distalostionT1>0.00000001</distalostionT1>
- <distalostionT2>0.00000001</distalostionT2>
+ <distortionK1>0.00000001</distortionK1>
+ <distortionK2>0.00000001</distortionK2>
+ <distortionK3>0.00000001</distortionK3>
+ <distortionT1>0.00000001</distortionT1>
+ <distortionT2>0.00000001</distortionT2>
</plugin>
</sensor>
@@ -83,11 +83,11 @@
<frameName>${name}_optical_frame</frameName>
<pointCloudCutoff>0.45</pointCloudCutoff>
<rangeMax>10.0</rangeMax>
- <distalostionK1>0.00000001</distalostionK1>
- <distalostionK2>0.00000001</distalostionK2>
- <distalostionK3>0.00000001</distalostionK3>
- <distalostionT1>0.00000001</distalostionT1>
- <distalostionT2>0.00000001</distalostionT2>
+ <distortionK1>0.00000001</distortionK1>
+ <distortionK2>0.00000001</distortionK2>
+ <distortionK3>0.00000001</distortionK3>
+ <distortionT1>0.00000001</distortionT1>
+ <distortionT2>0.00000001</distortionT2>
</plugin>
</sensor>
diff --git a/urdf/sensors/xtion_pro_live.urdf.xacro b/urdf/sensors/xtion_pro_live.urdf.xacro
index cb6464d5bea2fa9e2ba762ad06f6f550c7714ba4..25b16e646efbeb910712b088a8195863de02c5c2 100644
--- a/urdf/sensors/xtion_pro_live.urdf.xacro
+++ b/urdf/sensors/xtion_pro_live.urdf.xacro
@@ -33,7 +33,7 @@
<xacro:macro name="xtion_pro_live" params="name parent *origin *calibration_origin">
<!-- base link -->
<joint name="${name}_joint" type="fixed">
- <xacro:insert_block name="origin" />
+ <xacro:call macro="origin" />
<parent link="${parent}"/>
<child link="${name}_link"/>
</joint>
@@ -82,7 +82,7 @@
</link>
<!-- Xtion IR sensor frame -->
<joint name="${name}_ir_optical_frame_joint" type="fixed">
- <xacro:insert_block name="calibration_origin" /> <!-- macro argument -->
+ <xacro:call macro="calibration_origin" /> <!-- macro argument -->
<parent link="${name}_ir_link"/>
<child link="${name}_ir_optical_frame"/>
</joint>
@@ -117,7 +117,7 @@
</link>
<!-- Xtion RGB sensor frame -->
<joint name="${name}_rgb_optical_frame_joint" type="fixed">
- <xacro:insert_block name="calibration_origin" /> <!-- macro argument -->
+ <xacro:call macro="calibration_origin" /> <!-- macro argument -->
<parent link="${name}_rgb_link"/>
<child link="${name}_rgb_optical_frame"/>
</joint>
diff --git a/urdf/talos_full_collision.urdf b/urdf/talos_full_collision.urdf
deleted file mode 100644
index 100c7a1280093b2d63e98c4575ec56d69cfa1956..0000000000000000000000000000000000000000
--- a/urdf/talos_full_collision.urdf
+++ /dev/null
@@ -1,2786 +0,0 @@
-<?xml version="1.0" ?>
-<!-- =================================================================================== -->
-<!-- | This document was autogenerated by xacro from talos_full.urdf.xacro | -->
-<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
-<!-- =================================================================================== -->
-<!--
-
- Copyright (c) 2016, PAL Robotics, S.L.
- All rights reserved.
-
- This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
- To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
- Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
--->
-<robot name="talos" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://ros.org/wiki/xacro">
- <!--File includes-->
- <!--Constant parameters-->
- <!--File includes-->
- <!-- Macro -->
- <!--Constant parameters-->
- <!--************************-->
- <!-- HEAD_1 (TILT) -->
- <!--************************-->
- <!--************************-->
- <!-- HEAD_2 (PAN) -->
- <!--************************-->
- <!--File includes-->
- <!--File includes-->
- <!--Constant parameters-->
- <!--Constant parameters-->
- <!--File includes-->
- <!-- VIRTUAL (mimic) JOINTS -->
- <!-- 0.45deg -->
- <!--************************-->
- <!-- TORSO_2 (TILT) -->
- <!--************************-->
- <link name="torso_2_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.04551 -0.00053 0.16386"/>
- <mass value="17.55011"/>
- <inertia ixx="0.37376900000" ixy="0.00063900000" ixz="0.01219600000" iyy="0.24790200000" iyz="0.00000700000" izz="0.28140400000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/torso/torso_2.STL" scale="1 1 1"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/torso/torso_2_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <!--************************-->
- <!-- TORSO_1 (PAN) -->
- <!--************************-->
- <link name="torso_1_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00013 -0.00001 -0.01306"/>
- <mass value="3.02433"/>
- <inertia ixx="0.00759400000" ixy="0.00000100000" ixz="-0.00004800000" iyy="0.00429200000" iyz="-0.00000100000" izz="0.00749700000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/torso/torso_1.STL" scale="1 1 1"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/torso/torso_1.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="torso_1_joint" type="revolute">
- <parent link="base_link"/>
- <child link="torso_1_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0722"/>
- <axis xyz="0 0 1"/>
- <limit effort="78.0" lower="-1.308996939" upper="1.308996939" velocity="5.4"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-15.0 * deg_to_rad + torso_eps}"
- soft_upper_limit="${ 45.0 * deg_to_rad - torso_eps}" /> -->
- </joint>
- <!--************************-->
- <!-- BASE_LINK -->
- <!--************************-->
- <link name="base_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.08222 0.00838 -0.07261"/>
- <mass value="13.53810"/>
- <inertia ixx="0.06989000000" ixy="-0.00011700000" ixz="0.00023000000" iyy="0.03998200000" iyz="-0.00132500000" izz="0.08234500000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/torso/base_link.STL" scale="1 1 1"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="torso_2_joint" type="revolute">
- <parent link="torso_1_link"/>
- <child link="torso_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
- <axis xyz="0 1 0"/>
- <limit effort="78.0" lower="-0.261799387799" upper="0.785398163397" velocity="5.4"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-75.00000 * deg_to_rad + eps_radians}"
- soft_upper_limit="${75.00000 * deg_to_rad - eps_radians}" /> -->
- </joint>
- <link name="imu_link">
- <inertial>
- <mass value="0.01"/>
- <origin xyz="0 0 0"/>
- <inertia ixx="0.000001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.000001"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <box size="0.01 0.01 0.01"/>
- </geometry>
- </visual>
- </link>
- <joint name="imu_joint" type="fixed">
- <origin rpy="3.14159265359 0 1.57079632679" xyz="0.04925 0 0.078"/>
- <parent link="torso_2_link"/>
- <child link="imu_link"/>
- </joint>
- <gazebo reference="torso_1_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="torso_2_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="base_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="torso_1_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="torso_2_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <!-- extensions -->
- <transmission name="talos_torso_trans">
- <type>transmission_interface/DifferentialTransmission</type>
- <actuator name="torso_1_motor">
- <role>actuator1</role>
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <actuator name="torso_2_motor">
- <role>actuator2</role>
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="torso_1_joint">
- <role>joint1</role>
- <offset>0.0</offset>
- <mechanicalReduction>1.0</mechanicalReduction>
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- <joint name="torso_2_joint">
- <role>joint2</role>
- <offset>0.0</offset>
- <mechanicalReduction>1.0</mechanicalReduction>
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <link name="head_1_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00120 0.00145 0.02165"/>
- <mass value="0.65988"/>
- <inertia ixx="0.00122100000" ixy="-0.00000400000" ixz="0.00007000000" iyy="0.00092400000" iyz="-0.00004100000" izz="0.00103300000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/head/head_1.stl" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/head/head_1_collision.stl" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="head_1_joint" type="revolute">
- <parent link="torso_2_link"/>
- <child link="head_1_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.31600"/>
- <axis xyz="0 1 0"/>
- <limit effort="8.0" lower="-0.261799387799" upper="0.785398163397" velocity="1.0"/>
- <dynamics damping="0.5" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-15.00000 * deg_to_rad + eps_radians}"
- soft_upper_limit="${45.00000 * deg_to_rad - eps_radians}" /> -->
- </joint>
- <gazebo reference="head_1_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="head_1_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="head_1_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <link name="head_2_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01036 -0.00037 0.13778"/>
- <mass value="1.40353"/>
- <inertia ixx="0.00722500000" ixy="-0.00002500000" ixz="0.00032900000" iyy="0.00687300000" iyz="0.00004400000" izz="0.00437300000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/head/head_2.stl" scale="1 1 1"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/head/head_2_collision.stl" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="head_2_joint" type="revolute">
- <parent link="head_1_link"/>
- <child link="head_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="0 0 1"/>
- <limit effort="4.0" lower="-1.308996939" upper="1.308996939" velocity="1.0"/>
- <dynamics damping="0.5" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-75.00000 * deg_to_rad + eps_radians}"
- soft_upper_limit="${75.00000 * deg_to_rad - eps_radians}" /> -->
- </joint>
- <gazebo reference="head_2_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="head_2_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="head_2_link">
- <material>Gazebo/White</material>
- </gazebo>
- <!-- frames in the center of the camera -->
- <joint name="rgbd_joint" type="fixed">
- <origin rpy="0 0 0" xyz="0.066 0.0 0.1982"/>
- <axis xyz="0 0 1"/>
- <!-- <limit lower="0" upper="0.001" effort="100" velocity="0.01"/> -->
- <parent link="head_2_link"/>
- <child link="rgbd_link"/>
- </joint>
- <link name="rgbd_link">
- <inertial>
- <mass value="0.01"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <!-- inertia tensor computed analytically for a solid cuboid -->
- <inertia ixx="0.000030" ixy="0.0" ixz="0.0" iyy="0.000030" iyz="0.0" izz="0.000002"/>
- </inertial>
- <!--
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/sensors/orbbec/orbbec.STL"/>
- </geometry>
- <material name="DarkGrey">
- <color rgba="0.5 0.5 0.5 1"/>
- </material>
- </visual>
- -->
- <collision>
- <origin rpy="0 0 0" xyz="-0.01 0.0025 0"/>
- <geometry>
- <box size="0.04 0.185 0.03"/>
- </geometry>
- </collision>
- </link>
- <joint name="rgbd_optical_joint" type="fixed">
- <origin rpy="-1.57079632679 0 -1.57079632679" xyz="0 0 0"/>
- <parent link="rgbd_link"/>
- <child link="rgbd_optical_frame"/>
- </joint>
- <link name="rgbd_optical_frame">
- <inertial>
- <mass value="0.01"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
- </link>
- <!-- frames of the depth sensor -->
- <joint name="rgbd_depth_joint" type="fixed">
- <origin rpy="0 0 0" xyz="0.0 0.03751 0.0"/>
- <parent link="rgbd_link"/>
- <child link="rgbd_depth_frame"/>
- </joint>
- <link name="rgbd_depth_frame"/>
- <joint name="rgbd_depth_optical_joint" type="fixed">
- <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
- <parent link="rgbd_depth_frame"/>
- <child link="rgbd_depth_optical_frame"/>
- </joint>
- <link name="rgbd_depth_optical_frame"/>
- <!-- frames of the rgb sensor -->
- <joint name="rgbd_rgb_joint" type="fixed">
- <origin rpy="0 0 0" xyz="0.0 0.01251 0.0"/>
- <parent link="rgbd_link"/>
- <child link="rgbd_rgb_frame"/>
- </joint>
- <link name="rgbd_rgb_frame"/>
- <joint name="rgbd_rgb_optical_joint" type="fixed">
- <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
- <parent link="rgbd_rgb_frame"/>
- <child link="rgbd_rgb_optical_frame"/>
- </joint>
- <link name="rgbd_rgb_optical_frame"/>
- <!-- extensions -->
- <gazebo reference="rgbd_link">
- <!-- IR + depth -->
- <sensor name="rgbd_frame_sensor" type="depth">
- <always_on>true</always_on>
- <update_rate>6.0</update_rate>
- <camera>
- <horizontal_fov>1.01229096616</horizontal_fov>
- <image>
- <format>R8G8B8</format>
- <width>320</width>
- <height>240</height>
- </image>
- <clip>
- <near>0.45</near>
- <far>10.0</far>
- </clip>
- </camera>
- <plugin filename="libgazebo_ros_openni_kinect.so" name="rgbd_frame_controller">
- <alwaysOn>true</alwaysOn>
- <updateRate>6.0</updateRate>
- <cameraName>rgbd</cameraName>
- <imageTopicName>ir/image_raw</imageTopicName>
- <cameraInfoTopicName>ir/camera_info</cameraInfoTopicName>
- <depthImageTopicName>depth/image_raw</depthImageTopicName>
- <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
- <pointCloudTopicName>depth/points</pointCloudTopicName>
- <frameName>rgbd_optical_frame</frameName>
- <pointCloudCutoff>0.45</pointCloudCutoff>
- <rangeMax>10.0</rangeMax>
- <distalostionK1>0.00000001</distalostionK1>
- <distalostionK2>0.00000001</distalostionK2>
- <distalostionK3>0.00000001</distalostionK3>
- <distalostionT1>0.00000001</distalostionT1>
- <distalostionT2>0.00000001</distalostionT2>
- </plugin>
- </sensor>
- <!-- RGB -->
- <sensor name="rgbd_frame_sensor" type="depth">
- <always_on>true</always_on>
- <update_rate>6.0</update_rate>
- <camera>
- <horizontal_fov>1.01229096616</horizontal_fov>
- <image>
- <format>R8G8B8</format>
- <width>320</width>
- <height>240</height>
- </image>
- <clip>
- <near>0.45</near>
- <far>10.0</far>
- </clip>
- </camera>
- <plugin filename="libgazebo_ros_openni_kinect.so" name="rgbd_frame_controller">
- <alwaysOn>true</alwaysOn>
- <updateRate>6.0</updateRate>
- <cameraName>rgbd</cameraName>
- <imageTopicName>rgb/image_raw</imageTopicName>
- <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
- <pointCloudTopicName>rgb/points</pointCloudTopicName>
- <frameName>rgbd_optical_frame</frameName>
- <pointCloudCutoff>0.45</pointCloudCutoff>
- <rangeMax>10.0</rangeMax>
- <distalostionK1>0.00000001</distalostionK1>
- <distalostionK2>0.00000001</distalostionK2>
- <distalostionK3>0.00000001</distalostionK3>
- <distalostionT1>0.00000001</distalostionT1>
- <distalostionT2>0.00000001</distalostionT2>
- </plugin>
- </sensor>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <transmission name="talos_trans">
- <type>transmission_interface/HalfDifferentialTransmission</type>
- <actuator name="head_1_motor">
- <role>actuator1</role>
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <actuator name="head_2_motor">
- <role>actuator2</role>
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="head_1_joint">
- <role>joint1</role>
- <offset>0.0</offset>
- <mechanicalReduction>1.0</mechanicalReduction>
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- <joint name="head_2_joint">
- <role>joint2</role>
- <offset>0.0</offset>
- <mechanicalReduction>2.0</mechanicalReduction>
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <!--************************-->
- <!-- SHOULDER -->
- <!--************************-->
- <link name="arm_left_1_link">
- <!-- TODO: Missing reflects of inertias -->
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01346 0.0913 0.04812"/>
- <!-- <mass value="1.52896"/> -->
- <mass value="1.42896"/>
- <inertia ixx="0.00555100000" ixy="-0.00073100000" ixz="0.00000800000" iyy="0.00167300000" iyz="-0.00006000000" izz="0.00582200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_left_1_joint" type="revolute">
- <parent link="torso_2_link"/>
- <child link="arm_left_1_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.1575 0.23200"/>
- <axis xyz="0 0 1"/>
- <limit effort="44.64" lower="-1.57079632679" upper="0.523598775598" velocity="2.7"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-90.00000 * deg_to_rad + arm_eps}"
- soft_upper_limit="${30.00000 * deg_to_rad - arm_eps}" /> -->
- </joint>
- <link name="arm_left_2_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02607 0.00049 -0.05209"/>
- <!-- <mass value="1.77729"/> -->
- <mass value="1.67729"/>
- <inertia ixx="0.00708700000" ixy="-0.00001400000" ixz="0.00214200000" iyy="0.00793600000" iyz="0.00003000000" izz="0.00378800000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_left_2_joint" type="revolute">
- <parent link="arm_left_1_link"/>
- <child link="arm_left_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00493 0.1365 0.04673"/>
- <axis xyz="1 0 0"/>
- <limit effort="22.32" lower="0.0" upper="2.87979326579" velocity="3.66"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${0.00000 * deg_to_rad + arm_eps}"
- soft_upper_limit="${165.00000 * deg_to_rad - arm_eps}" /> -->
- </joint>
- <link name="arm_left_3_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00841 0.01428 -0.22291"/>
- <!-- <mass value="1.57029"/> -->
- <mass value="1.47029"/>
- <inertia ixx="0.00433200000" ixy="0.00015300000" ixz="-0.00049600000" iyy="0.00434000000" iyz="-0.00060900000" izz="0.00254300000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_left_3_joint" type="revolute">
- <parent link="arm_left_2_link"/>
- <child link="arm_left_3_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="0 0 1"/>
- <limit effort="17.86" lower="-2.44346095279" upper="2.44346095279" velocity="4.58"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-140.0 * deg_to_rad + arm_eps}"
- soft_upper_limit="${140.0 * deg_to_rad - arm_eps}" /> -->
- </joint>
- <!--************************-->
- <!-- ELBOW -->
- <!--************************-->
- <link name="arm_left_4_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00655 -0.02107 -0.02612"/>
- <!-- <mass value="1.20216"/> -->
- <mass value="1.10216"/>
- <inertia ixx="0.00221700000" ixy="-0.00010100000" ixz="0.00028800000" iyy="0.00241800000" iyz="-0.00039300000" izz="0.00111500000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_left_4_joint" type="revolute">
- <parent link="arm_left_3_link"/>
- <child link="arm_left_4_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.02000 0.00000 -0.27300"/>
- <axis xyz="0 1 0"/>
- <limit effort="17.86" lower="-2.35619449019" upper="0.0" velocity="4.58"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-135.0 * deg_to_rad + arm_eps}"
- soft_upper_limit="${0.0 * deg_to_rad - arm_eps}" /> -->
- </joint>
- <gazebo reference="arm_left_1_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_left_2_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_left_3_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_left_4_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_left_1_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_left_2_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_left_3_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_left_4_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <!--************************-->
- <!-- WRIST -->
- <!--************************-->
- <!--************************-->
- <!-- WRIST -->
- <!--************************-->
- <link name="arm_left_5_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00006 0.00326 0.07963"/>
- <!-- <mass value="1.87792"/> -->
- <mass value="1.77792"/>
- <inertia ixx="0.00349500000" ixy="-0.00001300000" ixz="-0.00001000000" iyy="0.00436800000" iyz="0.00009700000" izz="0.00228300000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_left_5_joint" type="revolute">
- <parent link="arm_left_4_link"/>
- <child link="arm_left_5_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="-0.02000 0.00000 -0.26430"/>
- <axis xyz="0 0 1"/>
- <limit effort="3" lower="-2.53072741539" upper="2.53072741539" velocity="1.95"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-145.00000 * deg_to_rad + wrist_eps}"
- soft_upper_limit="${145.00000 * deg_to_rad - wrist_eps}" /> -->
- </joint>
- <link name="arm_left_6_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00002 -0.00197 -0.00059"/>
- <!-- <mass value="0.40931"/> -->
- <mass value="0.30931"/>
- <inertia ixx="0.00010700000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00014100000" iyz="-0.00000000000" izz="0.00015400000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_left_6_joint" type="revolute">
- <parent link="arm_left_5_link"/>
- <child link="arm_left_6_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="1 0 0"/>
- <limit effort="6.6" lower="-1.3962634016" upper="1.3962634016" velocity="1.76"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-80.00000 * deg_to_rad + eps_radians}"
- soft_upper_limit="${80.00000 * deg_to_rad - eps_radians}" /> -->
- </joint>
- <link name="arm_left_7_link">
- <!-- WRONG VALUES
- <inertial>
- <origin xyz="-0.00089 0.00365 -0.07824" rpy="0.00000 0.00000 0.00000"/>
- <mass value="1.02604"/>
- <inertia ixx="0.00151400000" ixy="0.00000600000" ixz="0.00006600000"
- iyy="0.00146400000" iyz="0.00001200000"
- izz="0.00090300000"/>
- </inertial>
- -->
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.007525 0.001378 -0.024630"/>
- <mass value="0.308441"/>
- <inertia ixx="0.000309" ixy="0.000002" ixz="-0.000002" iyy="0.000219" iyz="0.000012" izz="0.000176"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_7.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_7_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_left_7_joint" type="revolute">
- <parent link="arm_left_6_link"/>
- <child link="arm_left_7_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
- <axis xyz="0 1 0"/>
- <limit effort="6.6" lower="-0.698131700798" upper="0.698131700798" velocity="1.76"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-40.00000 * deg_to_rad + eps_radians}"
- soft_upper_limit="${40.00000 * deg_to_rad - eps_radians}" /> -->
- </joint>
- <gazebo reference="arm_left_5_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="arm_left_6_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="arm_left_7_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_left_5_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_left_6_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_left_7_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <!-- extensions -->
- <transmission name="arm_left_5_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_left_5_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_left_5_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="wrist_left_trans">
- <type>transmission_interface/DifferentialTransmission</type>
- <actuator name="arm_left_6_motor">
- <role>actuator1</role>
- <mechanicalReduction>-1.0</mechanicalReduction>
- </actuator>
- <actuator name="arm_left_7_motor">
- <role>actuator2</role>
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_left_6_joint">
- <role>joint1</role>
- <offset>0.0</offset>
- <mechanicalReduction>-1.0</mechanicalReduction>
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- <joint name="arm_left_7_joint">
- <role>joint2</role>
- <offset>0.0</offset>
- <mechanicalReduction>-1.0</mechanicalReduction>
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <!-- extensions -->
- <transmission name="arm_left_1_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_left_1_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_left_1_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="arm_left_2_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_left_2_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_left_2_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="arm_left_3_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_left_3_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_left_3_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="arm_left_4_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_left_4_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_left_4_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <!--************************-->
- <!-- SHOULDER -->
- <!--************************-->
- <link name="arm_right_1_link">
- <!-- TODO: Missing reflects of inertias -->
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01346 -0.0913 0.04812"/>
- <!-- <mass value="1.52896"/> -->
- <mass value="1.42896"/>
- <inertia ixx="0.00555100000" ixy="-0.00073100000" ixz="0.00000800000" iyy="0.00167300000" iyz="-0.00006000000" izz="0.00582200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 -1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_1_collision.STL" scale="1 -1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_right_1_joint" type="revolute">
- <parent link="torso_2_link"/>
- <child link="arm_right_1_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.1575 0.23200"/>
- <axis xyz="0 0 1"/>
- <limit effort="44.64" lower="-0.523598775598" upper="1.57079632679" velocity="2.7"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-90.00000 * deg_to_rad + arm_eps}"
- soft_upper_limit="${30.00000 * deg_to_rad - arm_eps}" /> -->
- </joint>
- <link name="arm_right_2_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02607 0.00049 -0.05209"/>
- <!-- <mass value="1.77729"/> -->
- <mass value="1.67729"/>
- <inertia ixx="0.00708700000" ixy="-0.00001400000" ixz="0.00214200000" iyy="0.00793600000" iyz="0.00003000000" izz="0.00378800000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 -1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_2_collision.STL" scale="1 -1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_right_2_joint" type="revolute">
- <parent link="arm_right_1_link"/>
- <child link="arm_right_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00493 -0.1365 0.04673"/>
- <axis xyz="1 0 0"/>
- <limit effort="22.32" lower="-2.87979326579" upper="0.0" velocity="3.66"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${0.00000 * deg_to_rad + arm_eps}"
- soft_upper_limit="${165.00000 * deg_to_rad - arm_eps}" /> -->
- </joint>
- <link name="arm_right_3_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00841 0.01428 -0.22291"/>
- <!-- <mass value="1.57029"/> -->
- <mass value="1.47029"/>
- <inertia ixx="0.00433200000" ixy="0.00015300000" ixz="-0.00049600000" iyy="0.00434000000" iyz="-0.00060900000" izz="0.00254300000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 -1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_3_collision.STL" scale="1 -1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_right_3_joint" type="revolute">
- <parent link="arm_right_2_link"/>
- <child link="arm_right_3_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="0 0 1"/>
- <limit effort="17.86" lower="-2.44346095279" upper="2.44346095279" velocity="4.58"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-140.0 * deg_to_rad + arm_eps}"
- soft_upper_limit="${140.0 * deg_to_rad - arm_eps}" /> -->
- </joint>
- <!--************************-->
- <!-- ELBOW -->
- <!--************************-->
- <link name="arm_right_4_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00655 -0.02107 -0.02612"/>
- <!-- <mass value="1.20216"/> -->
- <mass value="1.10216"/>
- <inertia ixx="0.00221700000" ixy="-0.00010100000" ixz="0.00028800000" iyy="0.00241800000" iyz="-0.00039300000" izz="0.00111500000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 -1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_4_collision.STL" scale="1 -1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_right_4_joint" type="revolute">
- <parent link="arm_right_3_link"/>
- <child link="arm_right_4_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.02000 0.00000 -0.27300"/>
- <axis xyz="0 1 0"/>
- <limit effort="17.86" lower="-2.35619449019" upper="0.0" velocity="4.58"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-135.0 * deg_to_rad + arm_eps}"
- soft_upper_limit="${0.0 * deg_to_rad - arm_eps}" /> -->
- </joint>
- <gazebo reference="arm_right_1_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_right_2_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_right_3_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_right_4_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_right_1_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_right_2_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_right_3_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_right_4_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <!--************************-->
- <!-- WRIST -->
- <!--************************-->
- <!--************************-->
- <!-- WRIST -->
- <!--************************-->
- <link name="arm_right_5_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00006 0.00326 0.07963"/>
- <!-- <mass value="1.87792"/> -->
- <mass value="1.77792"/>
- <inertia ixx="0.00349500000" ixy="-0.00001300000" ixz="-0.00001000000" iyy="0.00436800000" iyz="0.00009700000" izz="0.00228300000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 -1 1"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_5_collision.STL" scale="1 -1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_right_5_joint" type="revolute">
- <parent link="arm_right_4_link"/>
- <child link="arm_right_5_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="-0.02000 0.00000 -0.26430"/>
- <axis xyz="0 0 1"/>
- <limit effort="3" lower="-2.53072741539" upper="2.53072741539" velocity="1.95"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-145.00000 * deg_to_rad + wrist_eps}"
- soft_upper_limit="${145.00000 * deg_to_rad - wrist_eps}" /> -->
- </joint>
- <link name="arm_right_6_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00002 -0.00197 -0.00059"/>
- <!-- <mass value="0.40931"/> -->
- <mass value="0.30931"/>
- <inertia ixx="0.00010700000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00014100000" iyz="-0.00000000000" izz="0.00015400000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 -1 1"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_6_collision.STL" scale="1 -1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_right_6_joint" type="revolute">
- <parent link="arm_right_5_link"/>
- <child link="arm_right_6_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="1 0 0"/>
- <limit effort="6.6" lower="-1.3962634016" upper="1.3962634016" velocity="1.76"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-80.00000 * deg_to_rad + eps_radians}"
- soft_upper_limit="${80.00000 * deg_to_rad - eps_radians}" /> -->
- </joint>
- <link name="arm_right_7_link">
- <!-- WRONG VALUES
- <inertial>
- <origin xyz="-0.00089 0.00365 -0.07824" rpy="0.00000 0.00000 0.00000"/>
- <mass value="1.02604"/>
- <inertia ixx="0.00151400000" ixy="0.00000600000" ixz="0.00006600000"
- iyy="0.00146400000" iyz="0.00001200000"
- izz="0.00090300000"/>
- </inertial>
- -->
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.007525 0.001378 -0.024630"/>
- <mass value="0.308441"/>
- <inertia ixx="0.000309" ixy="0.000002" ixz="-0.000002" iyy="0.000219" iyz="0.000012" izz="0.000176"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_7_collision.STL" scale="1 -1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/arm/arm_7_collision.STL" scale="1 -1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="arm_right_7_joint" type="revolute">
- <parent link="arm_right_6_link"/>
- <child link="arm_right_7_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
- <axis xyz="0 1 0"/>
- <limit effort="6.6" lower="-0.698131700798" upper="0.698131700798" velocity="1.76"/>
- <dynamics damping="1.0" friction="1.0"/>
- <!-- <safety_controller k_position="20"
- k_velocity="20"
- soft_lower_limit="${-40.00000 * deg_to_rad + eps_radians}"
- soft_upper_limit="${40.00000 * deg_to_rad - eps_radians}" /> -->
- </joint>
- <gazebo reference="arm_right_5_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="arm_right_6_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="arm_right_7_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="arm_right_5_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_right_6_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="arm_right_7_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <!-- extensions -->
- <transmission name="arm_right_5_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_right_5_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_right_5_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="wrist_right_trans">
- <type>transmission_interface/DifferentialTransmission</type>
- <actuator name="arm_right_6_motor">
- <role>actuator1</role>
- <mechanicalReduction>-1.0</mechanicalReduction>
- </actuator>
- <actuator name="arm_right_7_motor">
- <role>actuator2</role>
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_right_6_joint">
- <role>joint1</role>
- <offset>0.0</offset>
- <mechanicalReduction>-1.0</mechanicalReduction>
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- <joint name="arm_right_7_joint">
- <role>joint2</role>
- <offset>0.0</offset>
- <mechanicalReduction>1.0</mechanicalReduction>
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <!-- extensions -->
- <transmission name="arm_right_1_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_right_1_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_right_1_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="arm_right_2_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_right_2_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_right_2_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="arm_right_3_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_right_3_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_right_3_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="arm_right_4_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="arm_right_4_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="arm_right_4_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <!--************************-->
- <!-- ft sensor -->
- <!--************************-->
- <link name="wrist_right_ft_link">
- <inertial>
- <mass value="0.1"/>
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <cylinder length="0.0157" radius="0.0225"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <cylinder length="0.0157" radius="0.0225"/>
- </geometry>
- </collision>
- </link>
- <joint name="wrist_right_ft_joint" type="fixed">
- <parent link="arm_right_7_link"/>
- <child link="wrist_right_ft_link"/>
- <origin rpy="0.0 0 -1.57079632679" xyz="0 0 -0.051"/>
- </joint>
- <!--***********************-->
- <!-- FT TOOL -->
- <!--***********************-->
- <link name="wrist_right_ft_tool_link">
- <inertial>
- <mass value="0.1"/>
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
- <visual>
- <origin rpy="0 0.0 0" xyz="0.0 0 0"/>
- <geometry>
- <cylinder length="0.00975" radius="0.025"/>
- </geometry>
- <material name="FlatBlack"/>
- </visual>
- <collision>
- <origin rpy="0 0.0 0" xyz="0.0 0 0"/>
- <geometry>
- <cylinder length="0.00975" radius="0.025"/>
- </geometry>
- </collision>
- </link>
- <joint name="wrist_right_tool_joint" type="fixed">
- <parent link="wrist_right_ft_link"/>
- <child link="wrist_right_ft_tool_link"/>
- <origin rpy="0 0 -1.57079632679" xyz="0 0 -0.012725"/>
- </joint>
- <!--************************-->
- <!-- ft sensor -->
- <!--************************-->
- <link name="wrist_left_ft_link">
- <inertial>
- <mass value="0.1"/>
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <cylinder length="0.0157" radius="0.0225"/>
- </geometry>
- <material name="LightGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <cylinder length="0.0157" radius="0.0225"/>
- </geometry>
- </collision>
- </link>
- <joint name="wrist_left_ft_joint" type="fixed">
- <parent link="arm_left_7_link"/>
- <child link="wrist_left_ft_link"/>
- <origin rpy="0.0 0 -4.71238898038" xyz="0 0 -0.051"/>
- </joint>
- <!--***********************-->
- <!-- FT TOOL -->
- <!--***********************-->
- <link name="wrist_left_ft_tool_link">
- <inertial>
- <mass value="0.1"/>
- <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
- <visual>
- <origin rpy="0 0.0 0" xyz="0.0 0 0"/>
- <geometry>
- <cylinder length="0.00975" radius="0.025"/>
- </geometry>
- <material name="FlatBlack"/>
- </visual>
- <collision>
- <origin rpy="0 0.0 0" xyz="0.0 0 0"/>
- <geometry>
- <cylinder length="0.00975" radius="0.025"/>
- </geometry>
- </collision>
- </link>
- <joint name="wrist_left_tool_joint" type="fixed">
- <parent link="wrist_left_ft_link"/>
- <child link="wrist_left_ft_tool_link"/>
- <origin rpy="0 0 4.71238898038" xyz="0 0 -0.012725"/>
- </joint>
- <link name="gripper_left_base_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00534 0.00362 -0.02357"/>
- <mass value="0.61585"/>
- <inertia ixx="0.00047200000" ixy="-0.00000800000" ixz="0.00003500000" iyy="0.00052100000" iyz="0.00000000000" izz="0.00069000000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/base_link.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_left_base_link_joint" type="fixed">
- <parent link="wrist_left_ft_tool_link"/>
- <child link="gripper_left_base_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.02875"/>
- <axis xyz="0 0 0"/>
- </joint>
- <link name="gripper_left_motor_double_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02270 0.01781 -0.00977"/>
- <mass value="0.16889"/>
- <!-- In order for Gazebo not to explode we needed to add these 0.001 values to the diagonal,
- also the tool pal_dynamics InertiaMassVisualization gave NaN on the computation of the inertia box -->
- <inertia ixx="0.001159" ixy="-0.00007000000" ixz="0.00003800000" iyy="0.001221" iyz="-0.00005300000" izz="0.001268"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
- </geometry>
- <material name="Orange"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_left_joint" type="revolute">
- <parent link="gripper_left_base_link"/>
- <child link="gripper_left_motor_double_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.02025 -0.03"/>
- <axis xyz="1 0 0"/>
- <limit effort="1.0" lower="-1.0471975512" upper="0.0" velocity="1.0"/>
- <dynamics damping="1.0" friction="1.0"/>
- </joint>
- <link name="gripper_left_inner_double_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00056 0.03358 -0.01741"/>
- <mass value="0.11922"/>
- <inertia ixx="0.00009100000" ixy="0.00000100000" ixz="-0.00000100000" iyy="0.00015600000" iyz="-0.00003200000" izz="0.00012600000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
- </geometry>
- <material name="Orange"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_left_inner_double_joint" type="revolute">
- <parent link="gripper_left_base_link"/>
- <child link="gripper_left_inner_double_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00525 -0.05598"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="-1.0471975512" upper="0.0" velocity="1.0"/>
- <mimic joint="gripper_left_joint" multiplier="1.0" offset="0.0"/>
- </joint>
- <link name="gripper_left_fingertip_1_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_left_fingertip_1_joint" type="revolute">
- <parent link="gripper_left_inner_double_link"/>
- <child link="gripper_left_fingertip_1_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.03200 0.04589 -0.06553"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <link name="gripper_left_fingertip_2_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_left_fingertip_2_joint" type="revolute">
- <parent link="gripper_left_inner_double_link"/>
- <child link="gripper_left_fingertip_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="-0.03200 0.04589 -0.06553"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <link name="gripper_left_motor_single_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02589 -0.01284 -0.00640"/>
- <mass value="0.14765"/>
- <inertia ixx="0.00011500000" ixy="0.00005200000" ixz="0.00002500000" iyy="0.00015300000" iyz="0.00003400000" izz="0.00019000000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
- </geometry>
- <material name="Orange"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_left_motor_single_joint" type="revolute">
- <parent link="gripper_left_base_link"/>
- <child link="gripper_left_motor_single_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.02025 -0.03000"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <link name="gripper_left_inner_single_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.03253 -0.01883"/>
- <mass value="0.05356"/>
- <inertia ixx="0.00004700000" ixy="-0.00000000000" ixz="-0.00000000000" iyy="0.00003500000" iyz="0.00001700000" izz="0.00002400000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
- </geometry>
- <material name="Orange"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_left_inner_single_joint" type="revolute">
- <parent link="gripper_left_base_link"/>
- <child link="gripper_left_inner_single_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.00525 -0.05598"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <link name="gripper_left_fingertip_3_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_left_fingertip_3_joint" type="revolute">
- <parent link="gripper_left_inner_single_link"/>
- <child link="gripper_left_fingertip_3_link"/>
- <origin rpy="0.0 0.0 3.14159265359" xyz="0.00000 -0.04589 -0.06553"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_left_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <gazebo>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_inner_double_joint">
- <joint>gripper_left_joint</joint>
- <mimicJoint>gripper_left_inner_double_joint</mimicJoint>
- <multiplier>1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_fingertip_1_joint">
- <joint>gripper_left_joint</joint>
- <mimicJoint>gripper_left_fingertip_1_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_fingertip_2_joint">
- <joint>gripper_left_joint</joint>
- <mimicJoint>gripper_left_fingertip_2_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_inner_single_joint">
- <joint>gripper_left_joint</joint>
- <mimicJoint>gripper_left_inner_single_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_motor_single_joint">
- <joint>gripper_left_joint</joint>
- <mimicJoint>gripper_left_motor_single_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_left_fingertip_3_joint">
- <joint>gripper_left_joint</joint>
- <mimicJoint>gripper_left_fingertip_3_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- </gazebo>
- <!-- <plugin filename="libgazebo_underactuated_finger.so" name="gazebo_${name}_underactuated">
- <actuatedJoint>${name}_joint</actuatedJoint>
- <virtualJoint>
- <name>${name}_inner_double_joint</name>
- <scale_factor>1.0</scale_factor>
- </virtualJoint> -->
- <!-- <virtualJoint>
- <name>${name}_fingertip_1_joint</name>
- <scale_factor>-1.0</scale_factor>
- </virtualJoint>
- <virtualJoint>
- <name>${name}_fingertip_2_joint</name>
- <scale_factor>-1.0</scale_factor>
- </virtualJoint>
- <virtualJoint>
- <name>${name}_motor_single_joint</name>
- <scale_factor>1.0</scale_factor>
- </virtualJoint>
- <virtualJoint>
- <name>${name}_fingertip_3_joint</name>
- <scale_factor>-1.0</scale_factor>
- </virtualJoint> -->
- <!-- </plugin> -->
- <gazebo reference="gripper_left_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_left_inner_double_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_left_fingertip_1_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_left_fingertip_2_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_left_motor_single_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_left_fingertip_3_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_left_base_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="gripper_left_motor_double_link">
- <material>Gazebo/Orange</material>
- </gazebo>
- <gazebo reference="gripper_left_inner_double_link">
- <material>Gazebo/Orange</material>
- </gazebo>
- <gazebo reference="gripper_left_fingertip_1_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="gripper_left_motor_single_link">
- <material>Gazebo/Orange</material>
- </gazebo>
- <gazebo reference="gripper_left_inner_single_link">
- <material>Gazebo/Orange</material>
- </gazebo>
- <gazebo reference="gripper_left_fingertip_2_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="gripper_left_fingertip_3_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <transmission name="gripper_left_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="gripper_left_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="gripper_left_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <!-- virtual mimic joints -->
- <!-- <xacro:gripper_virtual_transmission name="${name}_inner_double" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_fingertip_1" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_fingertip_2" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_inner_single" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_motor_single" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_fingertip_3" reduction="1.0"/> -->
- <link name="gripper_right_base_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00534 0.00362 -0.02357"/>
- <mass value="0.61585"/>
- <inertia ixx="0.00047200000" ixy="-0.00000800000" ixz="0.00003500000" iyy="0.00052100000" iyz="0.00000000000" izz="0.00069000000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/base_link.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/base_link_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_right_base_link_joint" type="fixed">
- <parent link="wrist_right_ft_tool_link"/>
- <child link="gripper_right_base_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.02875"/>
- <axis xyz="0 0 0"/>
- </joint>
- <link name="gripper_right_motor_double_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02270 0.01781 -0.00977"/>
- <mass value="0.16889"/>
- <!-- In order for Gazebo not to explode we needed to add these 0.001 values to the diagonal,
- also the tool pal_dynamics InertiaMassVisualization gave NaN on the computation of the inertia box -->
- <inertia ixx="0.001159" ixy="-0.00007000000" ixz="0.00003800000" iyy="0.001221" iyz="-0.00005300000" izz="0.001268"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double.STL" scale="1 1 1"/>
- </geometry>
- <material name="Orange"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_double_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_right_joint" type="revolute">
- <parent link="gripper_right_base_link"/>
- <child link="gripper_right_motor_double_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.02025 -0.03"/>
- <axis xyz="1 0 0"/>
- <limit effort="1.0" lower="-1.0471975512" upper="0.0" velocity="1.0"/>
- <dynamics damping="1.0" friction="1.0"/>
- </joint>
- <link name="gripper_right_inner_double_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.00056 0.03358 -0.01741"/>
- <mass value="0.11922"/>
- <inertia ixx="0.00009100000" ixy="0.00000100000" ixz="-0.00000100000" iyy="0.00015600000" iyz="-0.00003200000" izz="0.00012600000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_double.STL" scale="1 1 1"/>
- </geometry>
- <material name="Orange"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_double_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_right_inner_double_joint" type="revolute">
- <parent link="gripper_right_base_link"/>
- <child link="gripper_right_inner_double_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00525 -0.05598"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="-1.0471975512" upper="0.0" velocity="1.0"/>
- <mimic joint="gripper_right_joint" multiplier="1.0" offset="0.0"/>
- </joint>
- <link name="gripper_right_fingertip_1_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_right_fingertip_1_joint" type="revolute">
- <parent link="gripper_right_inner_double_link"/>
- <child link="gripper_right_fingertip_1_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.03200 0.04589 -0.06553"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <link name="gripper_right_fingertip_2_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_right_fingertip_2_joint" type="revolute">
- <parent link="gripper_right_inner_double_link"/>
- <child link="gripper_right_fingertip_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="-0.03200 0.04589 -0.06553"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <link name="gripper_right_motor_single_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02589 -0.01284 -0.00640"/>
- <mass value="0.14765"/>
- <inertia ixx="0.00011500000" ixy="0.00005200000" ixz="0.00002500000" iyy="0.00015300000" iyz="0.00003400000" izz="0.00019000000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single.STL" scale="1 1 1"/>
- </geometry>
- <material name="Orange"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/gripper_motor_single_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_right_motor_single_joint" type="revolute">
- <parent link="gripper_right_base_link"/>
- <child link="gripper_right_motor_single_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.02025 -0.03000"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <link name="gripper_right_inner_single_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 -0.03253 -0.01883"/>
- <mass value="0.05356"/>
- <inertia ixx="0.00004700000" ixy="-0.00000000000" ixz="-0.00000000000" iyy="0.00003500000" iyz="0.00001700000" izz="0.00002400000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_single.STL" scale="1 1 1"/>
- </geometry>
- <material name="Orange"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/inner_single_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_right_inner_single_joint" type="revolute">
- <parent link="gripper_right_base_link"/>
- <child link="gripper_right_inner_single_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 -0.00525 -0.05598"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <link name="gripper_right_fingertip_3_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00000 0.00460 -0.00254"/>
- <mass value="0.02630"/>
- <inertia ixx="0.00000800000" ixy="0.00000000000" ixz="0.00000000000" iyy="0.00000900000" iyz="0.00000100000" izz="0.00000200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip.STL" scale="1 1 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/gripper/fingertip_collision.STL" scale="1 1 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="gripper_right_fingertip_3_joint" type="revolute">
- <parent link="gripper_right_inner_single_link"/>
- <child link="gripper_right_fingertip_3_link"/>
- <origin rpy="0.0 0.0 3.14159265359" xyz="0.00000 -0.04589 -0.06553"/>
- <axis xyz="1 0 0"/>
- <limit effort="100.0" lower="0.0" upper="1.0471975512" velocity="1.0"/>
- <mimic joint="gripper_right_joint" multiplier="-1.0" offset="0.0"/>
- </joint>
- <gazebo>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_inner_double_joint">
- <joint>gripper_right_joint</joint>
- <mimicJoint>gripper_right_inner_double_joint</mimicJoint>
- <multiplier>1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_fingertip_1_joint">
- <joint>gripper_right_joint</joint>
- <mimicJoint>gripper_right_fingertip_1_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_fingertip_2_joint">
- <joint>gripper_right_joint</joint>
- <mimicJoint>gripper_right_fingertip_2_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_inner_single_joint">
- <joint>gripper_right_joint</joint>
- <mimicJoint>gripper_right_inner_single_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_motor_single_joint">
- <joint>gripper_right_joint</joint>
- <mimicJoint>gripper_right_motor_single_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- <plugin filename="libroboticsgroup_gazebo_mimic_joint_plugin.so" name="mimic_gripper_right_fingertip_3_joint">
- <joint>gripper_right_joint</joint>
- <mimicJoint>gripper_right_fingertip_3_joint</mimicJoint>
- <multiplier>-1.0</multiplier>
- <offset>0.0</offset>
- <!-- <hasPID/> -->
- </plugin>
- </gazebo>
- <!-- <plugin filename="libgazebo_underactuated_finger.so" name="gazebo_${name}_underactuated">
- <actuatedJoint>${name}_joint</actuatedJoint>
- <virtualJoint>
- <name>${name}_inner_double_joint</name>
- <scale_factor>1.0</scale_factor>
- </virtualJoint> -->
- <!-- <virtualJoint>
- <name>${name}_fingertip_1_joint</name>
- <scale_factor>-1.0</scale_factor>
- </virtualJoint>
- <virtualJoint>
- <name>${name}_fingertip_2_joint</name>
- <scale_factor>-1.0</scale_factor>
- </virtualJoint>
- <virtualJoint>
- <name>${name}_motor_single_joint</name>
- <scale_factor>1.0</scale_factor>
- </virtualJoint>
- <virtualJoint>
- <name>${name}_fingertip_3_joint</name>
- <scale_factor>-1.0</scale_factor>
- </virtualJoint> -->
- <!-- </plugin> -->
- <gazebo reference="gripper_right_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_right_inner_double_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_right_fingertip_1_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_right_fingertip_2_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_right_motor_single_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_right_fingertip_3_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="gripper_right_base_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="gripper_right_motor_double_link">
- <material>Gazebo/Orange</material>
- </gazebo>
- <gazebo reference="gripper_right_inner_double_link">
- <material>Gazebo/Orange</material>
- </gazebo>
- <gazebo reference="gripper_right_fingertip_1_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="gripper_right_motor_single_link">
- <material>Gazebo/Orange</material>
- </gazebo>
- <gazebo reference="gripper_right_inner_single_link">
- <material>Gazebo/Orange</material>
- </gazebo>
- <gazebo reference="gripper_right_fingertip_2_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="gripper_right_fingertip_3_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <transmission name="gripper_right_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="gripper_right_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="gripper_right_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <!-- virtual mimic joints -->
- <!-- <xacro:gripper_virtual_transmission name="${name}_inner_double" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_fingertip_1" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_fingertip_2" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_inner_single" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_motor_single" reduction="1.0"/>
- <xacro:gripper_virtual_transmission name="${name}_fingertip_3" reduction="1.0"/> -->
- <!-- Joint hip_z (mesh link) : child link hip_x -> parent link base_link -->
- <link name="leg_left_1_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02320 -0.00009 0.04949"/>
- <mass value="1.88569"/>
- <inertia ixx="0.00384800000" ixy="0.00003200000" ixz="-0.00082600000" iyy="0.00599400000" iyz="0.00007800000" izz="0.00322200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_z_lo_res.stl" scale="1 1.0 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_z_collision.stl" scale="1 1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_left_1_joint" type="revolute">
- <parent link="base_link"/>
- <child link="leg_left_1_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="-0.02 0.085 -0.27105"/>
- <axis xyz="0 0 1"/>
- <limit effort="100" lower="-0.349065850399" upper="1.57079632679" velocity="3.87"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint hip_x (mesh link) : child link hip_y -> parent link hip_z -->
- <link name="leg_left_2_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.01583 -0.00021 0.00619"/>
- <mass value="2.37607"/>
- <inertia ixx="0.00342100000" ixy="-0.00011300000" ixz="-0.00022500000" iyy="0.00402400000" iyz="-0.00003100000" izz="0.00416400000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_x_lo_res.stl" scale="1 1.0 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_x_collision.stl" scale="1 1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_left_2_joint" type="revolute">
- <parent link="leg_left_1_link"/>
- <child link="leg_left_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="1 0 0"/>
- <limit effort="160" lower="-0.5236" upper="0.5236" velocity="5.8"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint hip_y (mesh link) : child link knee -> parent link hip_x -->
- <link name="leg_left_3_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00658 0.06563 -0.17278"/>
- <mass value="6.82734"/>
- <inertia ixx="0.12390600000" ixy="-0.000412" ixz="-0.00205900000" iyy="0.10844700000" iyz="0.016725" izz="0.02781200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_y_lo_res.stl" scale="1 1.0 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_y_collision.stl" scale="1 1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_left_3_joint" type="revolute">
- <parent link="leg_left_2_link"/>
- <child link="leg_left_3_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="0 1 0"/>
- <limit effort="160" lower="-2.095" upper="0.7" velocity="5.8"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint knee (mesh link) : child link ankle_y -> parent link hip_y -->
- <link name="leg_left_4_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.01520 0.02331 -0.12063"/>
- <mass value="3.63668"/>
- <inertia ixx="0.03531500000" ixy="2.9e-05" ixz="-0.00016600000" iyy="0.02933600000" iyz="-0.001305" izz="0.01174000000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/knee_lo_res.stl" scale="1 1.0 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/knee_collision.stl" scale="1 1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_left_4_joint" type="revolute">
- <parent link="leg_left_3_link"/>
- <child link="leg_left_4_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.38000"/>
- <axis xyz="0 1 0"/>
- <limit effort="300" lower="0" upper="2.618" velocity="7"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint ankle_y (mesh link) : child link ankle_x -> parent link knee -->
- <link name="leg_left_5_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01106 0.04708 0.05271"/>
- <mass value="1.24433"/>
- <inertia ixx="0.01148700000" ixy="-0.000686" ixz="-0.00052600000" iyy="0.00952600000" iyz="0.002633" izz="0.00390800000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_Y_lo_res.stl" scale="1 1.0 1"/>
- </geometry>
- <material name="Grey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_Y_collision.stl" scale="1 1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_left_5_joint" type="revolute">
- <parent link="leg_left_4_link"/>
- <child link="leg_left_5_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.32500"/>
- <axis xyz="0 1 0"/>
- <limit effort="160" lower="-1.309" upper="0.768" velocity="5.8"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint ankle_x (mesh link) : child link None -> parent link ankle_y -->
- <link name="leg_left_6_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.02087 -0.00019 -0.06059"/>
- <mass value="1.59457"/>
- <inertia ixx="0.00383800000" ixy="0.00001600000" ixz="-0.00104100000" iyy="0.00657200000" iyz="-0.00001700000" izz="0.00504400000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_X_lo_res.stl" scale="1 1.0 1"/>
- </geometry>
- <material name="Grey"/>
- </visual>
- <!--
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
- </geometry>
- </collision>
-
- -->
- <collision>
- <origin rpy="0 0 0" xyz="0 0 -0.1"/>
- <geometry>
- <box size="0.21 0.13 0.02"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_left_6_joint" type="revolute">
- <parent link="leg_left_5_link"/>
- <child link="leg_left_6_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="1 0 0"/>
- <limit effort="100" lower="-0.5236" upper="0.5236" velocity="4.8"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- from here is copy paste -->
- <link name="left_sole_link">
- <inertial>
- <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
- <mass value="0.01"/>
- <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
- </inertial>
- </link>
- <joint name="leg_left_sole_fix_joint" type="fixed">
- <parent link="leg_left_6_link"/>
- <child link="left_sole_link"/>
- <origin rpy="0 0 0" xyz="0.00 0.00 -0.107"/>
- <axis xyz="1 0 0"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <transmission name="leg_left_1_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_left_1_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_left_1_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_left_2_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_left_2_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_left_2_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_left_3_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_left_3_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_left_3_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_left_4_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_left_4_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_left_4_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_left_5_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_left_5_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_left_5_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_left_6_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_left_6_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_left_6_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <gazebo reference="leg_left_1_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_left_2_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_left_3_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_left_4_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_left_5_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <!-- contact model for foot surface -->
- <gazebo reference="leg_left_6_link">
- <kp>1000000.0</kp>
- <kd>100.0</kd>
- <mu1>1.0</mu1>
- <mu2>1.0</mu2>
- <fdir1>1 0 0</fdir1>
- <maxVel>1.0</maxVel>
- <minDepth>0.00</minDepth>
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_left_1_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_left_2_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_left_3_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_left_4_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_left_5_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_left_6_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="leg_left_1_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_left_2_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_left_3_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_left_4_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_left_5_link">
- <material>Gazebo/White</material>
- </gazebo>
- <gazebo reference="leg_left_6_link">
- <material>Gazebo/White</material>
- </gazebo>
- <!-- Joint hip_z (mesh link) : child link hip_x -> parent link base_link -->
- <link name="leg_right_1_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.02320 -0.00009 0.04949"/>
- <mass value="1.88569"/>
- <inertia ixx="0.00384800000" ixy="0.00003200000" ixz="-0.00082600000" iyy="0.00599400000" iyz="0.00007800000" izz="0.00322200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_z_lo_res.stl" scale="1 -1.0 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_z_collision.stl" scale="1 -1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_right_1_joint" type="revolute">
- <parent link="base_link"/>
- <child link="leg_right_1_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="-0.02 -0.085 -0.27105"/>
- <axis xyz="0 0 1"/>
- <limit effort="100" lower="-1.57079632679" upper="0.349065850399" velocity="3.87"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint hip_x (mesh link) : child link hip_y -> parent link hip_z -->
- <link name="leg_right_2_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.01583 -0.00021 0.00619"/>
- <mass value="2.37607"/>
- <inertia ixx="0.00342100000" ixy="-0.00011300000" ixz="-0.00022500000" iyy="0.00402400000" iyz="-0.00003100000" izz="0.00416400000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_x_lo_res.stl" scale="1 -1.0 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_x_collision.stl" scale="1 -1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_right_2_joint" type="revolute">
- <parent link="leg_right_1_link"/>
- <child link="leg_right_2_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="1 0 0"/>
- <limit effort="160" lower="-0.5236" upper="0.5236" velocity="5.8"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint hip_y (mesh link) : child link knee -> parent link hip_x -->
- <link name="leg_right_3_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.00658 -0.06563 -0.17278"/>
- <mass value="6.82734"/>
- <inertia ixx="0.12390600000" ixy="0.000412" ixz="-0.00205900000" iyy="0.10844700000" iyz="-0.016725" izz="0.02781200000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_y_lo_res.stl" scale="1 -1.0 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/hip_y_collision.stl" scale="1 -1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_right_3_joint" type="revolute">
- <parent link="leg_right_2_link"/>
- <child link="leg_right_3_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="0 1 0"/>
- <limit effort="160" lower="-2.095" upper="0.7" velocity="5.8"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint knee (mesh link) : child link ankle_y -> parent link hip_y -->
- <link name="leg_right_4_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="0.01520 -0.02331 -0.12063"/>
- <mass value="3.63668"/>
- <inertia ixx="0.03531500000" ixy="-2.9e-05" ixz="-0.00016600000" iyy="0.02933600000" iyz="0.001305" izz="0.01174000000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/knee_lo_res.stl" scale="1 -1.0 1"/>
- </geometry>
- <material name="DarkGrey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/knee_collision.stl" scale="1 -1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_right_4_joint" type="revolute">
- <parent link="leg_right_3_link"/>
- <child link="leg_right_4_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.38000"/>
- <axis xyz="0 1 0"/>
- <limit effort="300" lower="0" upper="2.618" velocity="7"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint ankle_y (mesh link) : child link ankle_x -> parent link knee -->
- <link name="leg_right_5_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.01106 -0.04708 0.05271"/>
- <mass value="1.24433"/>
- <inertia ixx="0.01148700000" ixy="0.000686" ixz="-0.00052600000" iyy="0.00952600000" iyz="-0.002633" izz="0.00390800000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_Y_lo_res.stl" scale="1 -1.0 1"/>
- </geometry>
- <material name="Grey"/>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0.0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_Y_collision.stl" scale="1 -1.0 1"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_right_5_joint" type="revolute">
- <parent link="leg_right_4_link"/>
- <child link="leg_right_5_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 -0.32500"/>
- <axis xyz="0 1 0"/>
- <limit effort="160" lower="-1.309" upper="0.768" velocity="5.8"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- Joint ankle_x (mesh link) : child link None -> parent link ankle_y -->
- <link name="leg_right_6_link">
- <inertial>
- <origin rpy="0.00000 0.00000 0.00000" xyz="-0.02087 -0.00019 -0.06059"/>
- <mass value="1.59457"/>
- <inertia ixx="0.00383800000" ixy="0.00001600000" ixz="-0.00104100000" iyy="0.00657200000" iyz="-0.00001700000" izz="0.00504400000"/>
- </inertial>
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_X_lo_res.stl" scale="1 -1.0 1"/>
- </geometry>
- <material name="Grey"/>
- </visual>
- <!--
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
- </geometry>
- </collision>
-
- -->
- <collision>
- <origin rpy="0 0 0" xyz="0 0 -0.1"/>
- <geometry>
- <box size="0.21 0.13 0.02"/>
- </geometry>
- </collision>
- </link>
- <joint name="leg_right_6_joint" type="revolute">
- <parent link="leg_right_5_link"/>
- <child link="leg_right_6_link"/>
- <origin rpy="0.0 0.0 0.0" xyz="0.00000 0.00000 0.00000"/>
- <axis xyz="1 0 0"/>
- <limit effort="100" lower="-0.5236" upper="0.5236" velocity="4.8"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <!-- from here is copy paste -->
- <link name="right_sole_link">
- <inertial>
- <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
- <mass value="0.01"/>
- <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
- </inertial>
- </link>
- <joint name="leg_right_sole_fix_joint" type="fixed">
- <parent link="leg_right_6_link"/>
- <child link="right_sole_link"/>
- <origin rpy="0 0 0" xyz="0.00 0.00 -0.107"/>
- <axis xyz="1 0 0"/>
- <dynamics damping="0.0" friction="0.0"/>
- </joint>
- <transmission name="leg_right_1_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_right_1_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_right_1_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_right_2_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_right_2_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_right_2_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_right_3_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_right_3_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_right_3_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_right_4_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_right_4_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_right_4_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_right_5_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_right_5_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_right_5_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <transmission name="leg_right_6_trans">
- <type>transmission_interface/SimpleTransmission</type>
- <actuator name="leg_right_6_motor">
- <mechanicalReduction>1.0</mechanicalReduction>
- </actuator>
- <joint name="leg_right_6_joint">
- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
- <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
- </joint>
- </transmission>
- <gazebo reference="leg_right_1_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_right_2_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_right_3_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_right_4_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="leg_right_5_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <!-- contact model for foot surface -->
- <gazebo reference="leg_right_6_link">
- <kp>1000000.0</kp>
- <kd>100.0</kd>
- <mu1>1.0</mu1>
- <mu2>1.0</mu2>
- <fdir1>1 0 0</fdir1>
- <maxVel>1.0</maxVel>
- <minDepth>0.00</minDepth>
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_right_1_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_right_2_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_right_3_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_right_4_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_right_5_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="leg_right_6_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
- <gazebo reference="leg_right_1_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_right_2_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_right_3_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_right_4_link">
- <material>Gazebo/FlatBlack</material>
- </gazebo>
- <gazebo reference="leg_right_5_link">
- <material>Gazebo/White</material>
- </gazebo>
- <gazebo reference="leg_right_6_link">
- <material>Gazebo/White</material>
- </gazebo>
- <!-- Generic simulatalos_gazebo plugins -->
- <gazebo>
- <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
- <ns/>
- <robotSimType>pal_hardware_gazebo/PalHardwareGazebo</robotSimType>
- <robotNamespace/>
- <controlPeriod>0.001</controlPeriod>
- </plugin>
- </gazebo>
- <gazebo>
- <plugin filename="libgazebo_world_odometry.so" name="gazebo_ros_odometry">
- <frameName>base_link</frameName>
- <topicName>floating_base_pose_simulated</topicName>
- </plugin>
- </gazebo>
- <gazebo>
- <plugin filename="libgazebo_ros_force.so" name="gazebo_ros_force">
- <bodyName>base_link</bodyName>
- <topicName>wrench</topicName>
- </plugin>
- </gazebo>
- <gazebo reference="imu_link">
- <!-- this is expected to be reparented to pelvis with appropriate offset
- when imu_link is reduced by fixed joint reduction -->
- <!-- todo: this is working with gazebo 1.4, need to write a unit test -->
- <sensor name="imu_sensor" type="imu">
- <always_on>1</always_on>
- <update_rate>1000.0</update_rate>
- <imu>
- <noise>
- <type>gaussian</type>
- <!-- Noise parameters from Boston Dynamics
- (http://gazebosim.org/wiki/Sensor_noise):
- rates (rad/s): mean=0, stddev=2e-4
- accels (m/s/s): mean=0, stddev=1.7e-2
- rate bias (rad/s): 5e-6 - 1e-5
- accel bias (m/s/s): 1e-1
- Experimentally, simulation provide rates with noise of
- about 1e-3 rad/s and accels with noise of about 1e-1 m/s/s.
- So we don't expect to see the noise unless number of inner iterations
- are increased.
-
- We will add bias. In this model, bias is sampled once for rates
- and once for accels at startup; the sign (negative or positive)
- of each bias is then switched with equal probability. Thereafter,
- the biases are fixed additive offsets. We choose
- bias means and stddevs to produce biases close to the provided
- data. -->
- <!--
- <rate>
- <mean>0.0</mean>
- <stddev>2e-4</stddev>
- <bias_mean>0.0000075</bias_mean>
- <bias_stddev>0.0000008</bias_stddev>
- </rate>
- <accel>
- <mean>0.0</mean>
- <stddev>1.7e-2</stddev>
- <bias_mean>0.1</bias_mean>
- <bias_stddev>0.001</bias_stddev>
- </accel>
- -->
- <rate>
- <mean>0.0</mean>
- <stddev>0.0</stddev>
- <bias_mean>0.000000</bias_mean>
- <bias_stddev>0.0000008</bias_stddev>
- </rate>
- <accel>
- <mean>0.0</mean>
- <stddev>0.0</stddev>
- <bias_mean>0.0</bias_mean>
- <bias_stddev>0.000</bias_stddev>
- </accel>
- </noise>
- </imu>
- </sensor>
- </gazebo>
- <!-- define global properties -->
- <!-- <xacro:property name="M_PI" value="3.1415926535897931" /> -->
- <!-- Materials for visualization -->
- <material name="Blue">
- <color rgba="0.0 0.0 0.8 1.0"/>
- </material>
- <material name="Green">
- <color rgba="0.0 0.8 0.0 1.0"/>
- </material>
- <material name="Grey">
- <color rgba="0.7 0.7 0.7 1.0"/>
- </material>
- <material name="LightGrey">
- <color rgba="0.9 0.9 0.9 1.0"/>
- </material>
- <material name="DarkGrey">
- <color rgba="0.2 0.2 0.2 1.0"/>
- </material>
- <material name="Red">
- <color rgba="0.8 0.0 0.0 1.0"/>
- </material>
- <material name="White">
- <color rgba="1.0 1.0 1.0 1.0"/>
- </material>
- <material name="Orange">
- <color rgba="1.0 0.5 0.0 1.0"/>
- </material>
-</robot>
-
diff --git a/urdf/torso/torso.urdf.xacro b/urdf/torso/torso.urdf.xacro
index f20cb81ebd92651f8ea8fb98f8bb7fe36e4d0b84..f92e7b1d743682c2a84199f4006e1bb380a9a99a 100644
--- a/urdf/torso/torso.urdf.xacro
+++ b/urdf/torso/torso.urdf.xacro
@@ -11,13 +11,13 @@
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<!--File includes-->
- <xacro:include filename="$(find talos_data)/urdf/deg_to_rad.xacro" />
- <xacro:include filename="$(find talos_data)/urdf/torso/torso.transmission.xacro" />
- <xacro:include filename="$(find talos_data)/urdf/sensors/imu.urdf.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/deg_to_rad.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/torso/torso.transmission.xacro" />
+ <xacro:include filename="$(find talos_description)/urdf/sensors/imu.urdf.xacro" />
<!--Constant parameters-->
<xacro:property name="torso_max_vel" value="5.4" />
- <xacro:property name="torso_max_effort" value="78.0" />
+ <xacro:property name="torso_max_effort" value="200.0" />
<xacro:property name="torso_eps" value="0.02" />
<xacro:macro name="talos_torso" params="name">
@@ -25,18 +25,12 @@
<!-- TORSO_2 (TILT) -->
<!--************************-->
<link name="${name}_2_link">
- <inertial>
- <origin xyz="-0.04551 -0.00053 0.16386" rpy="0.00000 0.00000 0.00000"/>
- <mass value="17.55011"/>
- <inertia ixx="0.37376900000" ixy="0.00063900000" ixz="0.01219600000"
- iyy="0.24790200000" iyz="0.00000700000"
- izz="0.28140400000"/>
- </inertial>
+ <xacro:call macro="${name}_2_link_inertial" />
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/torso/torso_2.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/torso/torso_2.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey" />
</visual>
@@ -44,7 +38,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/torso/torso_2_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/torso/torso_2_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -54,24 +48,20 @@
<!-- TORSO_1 (PAN) -->
<!--************************-->
<link name="${name}_1_link">
- <inertial>
- <origin xyz="0.00013 -0.00001 -0.01306" rpy="0.00000 0.00000 0.00000"/>
- <mass value="3.02433"/>
- <inertia ixx="0.00759400000" ixy="0.00000100000" ixz="-0.00004800000"
- iyy="0.00429200000" iyz="-0.00000100000"
- izz="0.00749700000"/>
- </inertial>
+ <xacro:call macro="${name}_1_link_inertial" />
+
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/torso/torso_1.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/torso/torso_1.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey" />
</visual>
+
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/torso/torso_1.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/torso/torso_1.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -79,10 +69,11 @@
<joint name="${name}_1_joint" type="revolute">
<parent link="base_link"/>
<child link="${name}_1_link"/>
- <origin xyz="0.0 0.0 0.0722"
+ <!-- XXX AS: The kinematic chain order for the torso was reversed manually. This value does not match the CAD model. XXX -->
+ <origin xyz="0.0 0.0 0.0722"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="0 0 1" />
- <limit lower="${-75.00000 * deg_to_rad}" upper="${75.00000 * deg_to_rad}"
+ <limit lower="${-72.00000 * deg_to_rad}" upper="${72.00000 * deg_to_rad}"
effort="${torso_max_effort}" velocity="${torso_max_vel}" />
<dynamics damping="1.0" friction="1.0"/>
@@ -96,18 +87,12 @@
<!-- BASE_LINK -->
<!--************************-->
<link name="base_link">
- <inertial>
- <origin xyz="-0.08222 0.00838 -0.07261" rpy="0.00000 0.00000 0.00000"/>
- <mass value="13.53810"/>
- <inertia ixx="0.06989000000" ixy="-0.00011700000" ixz="0.00023000000"
- iyy="0.03998200000" iyz="-0.00132500000"
- izz="0.08234500000"/>
- </inertial>
+ <xacro:call macro="base_link_inertial" />
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/torso/base_link.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/torso/base_link.STL" scale="1 1 1"/>
</geometry>
<material name="LightGrey" />
</visual>
@@ -115,7 +100,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://talos_data/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
+ <mesh filename="package://talos_description/meshes/torso/base_link_collision.STL" scale="1 1 1"/>
</geometry>
</collision>
</link>
@@ -123,10 +108,10 @@
<joint name="${name}_2_joint" type="revolute">
<parent link="${name}_1_link"/>
<child link="${name}_2_link"/>
- <origin xyz="0.0 0.0 0.0"
+ <origin xyz="0.0 0.0 0.0"
rpy="${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad} ${0.00000 * deg_to_rad}"/>
<axis xyz="0 1 0" />
- <limit lower="${-15.0 * deg_to_rad}" upper="${45.0 * deg_to_rad}"
+ <limit lower="${-13.0 * deg_to_rad}" upper="${42.0 * deg_to_rad}"
effort="${torso_max_effort}" velocity="${torso_max_vel}"/>
<dynamics friction="1.0" damping="1.0"/>
@@ -137,31 +122,31 @@
</joint>
- <xacro:talos_imu name="imu" parent="${name}_2_link" update_rate="100.0">
- <origin xyz="0.04925 0 0.078" rpy="${180.0*deg_to_rad} 0 ${90.0*deg_to_rad}"/>
- </xacro:talos_imu>
-
-
- <gazebo reference="${name}_1_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="${name}_2_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
- <gazebo reference="base_link">
- <mu1>0.9</mu1>
- <mu2>0.9</mu2>
- </gazebo>
-
- <gazebo reference="${name}_1_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- </gazebo>
- <gazebo reference="${name}_2_joint">
- <implicitSpringDamper>1</implicitSpringDamper>
- <provideFeedback>1</provideFeedback>
- </gazebo>
+ <xacro:talos_imu name="imu" parent="${name}_2_link" update_rate="100.0">
+ <origin xyz="0.04925 0 0.078" rpy="${180.0*deg_to_rad} 0 ${90.0*deg_to_rad}"/>
+ </xacro:talos_imu>
+
+
+ <gazebo reference="${name}_1_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="${name}_2_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+ <gazebo reference="base_link">
+ <mu1>0.9</mu1>
+ <mu2>0.9</mu2>
+ </gazebo>
+
+ <gazebo reference="${name}_1_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ </gazebo>
+ <gazebo reference="${name}_2_joint">
+ <implicitSpringDamper>1</implicitSpringDamper>
+ <provideFeedback>1</provideFeedback>
+ </gazebo>
<!-- extensions -->